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DIY-Sim-Racing-Active-Pedal
This is my Sim Racing DIY Active Pedal prototype, an affordable alternative to the official Simucube pedals that cost over $2,000 per pedal.
I would recommend sticking with Arduino. You are already familiar with it, and in the Open FFB community (OSW, SFX-100) Arduino controllers are the norm. There is a lot of common ground with Active FFB pedals and the SFX-100 motion platform: hardware, drivers/controllers, even aspects of the software. You may be able to leverage the combined experience of that community--both in the mechanical engineering and software/firmware development--to advance your work. Seems to me that an FFB Active Pedal project is a natural extension to a motion project.
rp2040 is really powerful its not a conventional "desktop" raspberry pi, its a microcontroller similar to stm32 or the avr boards that the arduino uses. https://github.com/earlephilhower/arduino-pico for arduino support.