The Hirata is up and running! All three motors are being controlled (open-loop, for now). If you look at the scope near the top right of the video, you can see two of the three 20kHz PWM signals that are driving the motors. Don't mind the cable mess, it will be cleaned up soon!
Next week's tasks are to finish connecting the motor decoders, torque-force sensor, and limit sensors to our data acquisition cards to allow for closed-loop control.