menzel
3bf85ab36a
Per-axis BEC motors over the virtual SmarGon Coordinate System axes, sharing a singleton SmargopoloController, with an ophyd-free transport layer — RestTransport against the real :3000 API, plus an in-memory FakeTransport for offline use and tests. smargopolo runs the kinematics and drives the underlying q1..q6 MCS2 stages; this device never commands those directly. Adds only its own package and its own two config files. Tested against the hardware since. Merged into current main: 101 failed / 580 passed / 12 skipped (measured with all three branches stacked), against a baseline of 101 failed / 532 passed. Reviewed-on: #314