I wrote a small kernel module for the maestro a while back as part of a class project. I didn’t bother trying to do any of the configuration in the module, and only sent commands, but if I can help let me know.
I recall it being pretty straight forward.
It is not obvious to me that you will reduce latency much by writing your own kernel module, but it could help. I think the processing time is going to be overshadowed by the time for the physical movement in most cases.
-Chris
I actually just went through and saw that my first post here was about this: Short Position-only kernel module