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To do this for pitch, you first have to have A2D converters that are accurate. But the real challenge I think is the conversion of the continuous, analog voltages that we all love into discreet low-res digital under the limited MIDI protocol.
MIDI was written with 12-note-per-octave keyboards in mind, and that's a shame. It has been kludged to do a few other things, but it's lipstick on a pig. Most solutions use a key-on event coupled with some continuous controller info on the side as a modifier, like riding the pitch wheel at high speed. I think that's how my old Mirage micro-tuning OS worked. But the resolution isn't great and it's still a Rube Goldberg.
Of course, you can just record each CV as a continuous controller, but this makes for difficult editing, doesn't show as pitch-related in the editor, and again, the resolution just isn't there for the most part.
If you try to use the standard key-on message along with a modifying channel, then you need good algorithms for deciding when the note has "changed." This is not easy. Big Briar sells Theremins for around $400, and yet they have a MIDI-out model for $5,000. I wonder why it's so much more...? ;)
Wendy Carlos tells how she MIDI-ized the Circon continuous voltage into her sequencing software for "Tales from Heaven & Hell," and basically there was a LOT of manual editing of controller data once it got into the sequencer. It's not something you would want to do often.
I'm really intrigued by the ability to "record" the voltages in the modular, but it's not an easy solution at all.