Closed hapiel closed 6 months ago
If last input mode was not position (like torque or speed), then compare position with current position before rotating..
Code done, needs to be tested on robot (push joystick beyond range, see if interpolation happens)
If the new target pos and the old target pos are far away from each other, this suggests an error, like when the joystick takes over from the choreography, or when a choreo starts at an unexpected position. If this happens, linearly interpolate between the positions.
Set timer based on the size of the difference, and within that time run from a percentage of the old pos to the various new positions.