Your Pi is way more capable then you think it is.
GPIO Pin control through ros2_control framework prin configuration via URDF parameters reads of digital input values writes of digital output values you can select which interfaces should be available ...
Abstract: This paper proposes the data-driven tuning of low-cost Proportional-Integral (PI) fuzzy control of the payload position of tower crane systems using Iterative Feedback Tuning (IFT). A ...