As we are now writing other controllers that require force-torque thresholding, it would be really nice to have this functionality in a separate, re-usable module. This change should be transparent to any users of FTThresholdClient.
Additionally, this cleans-up the re-taring interface, and no longer requires re-taring on controller start.
Previously, re-taring would happen automatically upon controller start, so if we ever wanted to swap controllers, before-and-after measurements would be biased relative to each other (for a specific example: this would mess up the acquisition detection framework, which requires force measurements both before and after food pickup).
As we are now writing other controllers that require force-torque thresholding, it would be really nice to have this functionality in a separate, re-usable module. This change should be transparent to any users of
FTThresholdClient.Additionally, this cleans-up the re-taring interface, and no longer requires re-taring on controller start. Previously, re-taring would happen automatically upon controller start, so if we ever wanted to swap controllers, before-and-after measurements would be biased relative to each other (for a specific example: this would mess up the acquisition detection framework, which requires force measurements both before and after food pickup).