chip updates: things to fix and how we will fix them [updates]
So here are some issues we've noticed with the new system we must fix:
(1) PID control and tuning is very good but if we switch direction too fast then what happens? Well then the system over-currents. So what we can do, is track the velocity of the leg and if it's above a certain threshold we can SLOW it down before we switch direction.
(2) Cleanup the ROS software after it works.