I have a six-legged “Krabby” prototype whose limbs are driven by six individual motors wired to an Arduino MCU. My next step is to load firmware that lets me command each motor’s speed, position, and torque on demand, then drive those commands from a Python script. Here is what I need: https://github.com/flliver/patina-foundation-grants/blob/main/grants/Krabby-Uno/Milestone4-MCU-Firmware/OVERVIEW.md