Finish safeties

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Currently, the safeties just trigger an ESTOP if any leg motor position comes 
within 20 degrees of an impact. Once we have the velocity controller tuned, we 
should switch this over to active damping.

Additionally, we should make the safeties depend on both positions and 
velocities, so it does not spuriously engage and is always effective.

For the hip, we can probably put on similar safeties as for the legs. For one 
side, however, we can't have an "anti-collision" safety (since it sits against 
this hard stop when relaxed), but instead can change our function so it trips a 
bit later position-wise, so it should never trigger during normal operation but 
will still prevent a large impact velocity.

Setting as low priority not due to a lack of importance but because it can be 
pushed back a bit time-wise.

Original issue reported on code.google.com by jrvanwhy on 7 Sep 2012 at 8:36

[GoogleCodeExporter]

this should be implemented asap

Original comment by tra...@gmail.com on 10 Oct 2012 at 6:23

• Added labels: Priority-Medium
• Removed labels: Priority-Low

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Original comment by jrvanwhy on 20 Dec 2012 at 4:48

• Added labels: Priority-High
• Removed labels: Priority-Medium

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We now have some safeties on the legs. Currently, the Medullas assume 60 amps 
is available for the halt -- RT Ops should have its own safeties that only 
assume 30 amps are available.

Also, RT Ops probably should have a safety on leg extension -- currently, there 
is none.

Original comment by jrvanwhy on 20 Dec 2012 at 4:54

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Done, except for hip safeties.

Original comment by jrvanwhy on 21 Dec 2012 at 8:45

• Changed state: Done