Convert potentiometer readings into angular displacements and forces

[eric-wieser]

The potentiometers measure spring displacement between the servo angle and the joint angle. We should try and convert these into units of torque.

• [x] Find the zero position for torque
• [x] Find the conversion factor between adc offset and angular displacement
  • [x] Integrate it into RobotBase.joint_angles in robot.py, which will fix the visualizer to show it
  • [ ] Build a feedback-controller in the arduino that regulates the overall position
• [ ] Find the conversion between angular displacement and torque, using some known force
  • [ ] Add a Robot.joint_torque member, that delegates to Robot.target_adc_reading after conversion

[eric-wieser]

One thing to consider would be to use arbitrary units for this and mass (#13), which is fine unless we implement #5

[Aguuu13]

Measure Parameters - Joints 2 and 3 Data.xlsx

Data from joint angle tests under gravity