zero.yaml params being read. Need to update zero.yaml for new hand
added core template
created common dir for headers, lib, and CAN control cpp file. no more editing multiple copies
joint pd controller added. gains hard-coded. needs to read param server
two PD controllers. callback and sleep. compare frequency. both go unstable.
velocity saturation controller. needs tuning.
minor
vel saturation tuning for 9th joint. abs -> fabs error fixed
tuned velSat method, added plots. needs clean up
added libBhand.so 32-bit
CAN comm now reads in AH version to determine finger servo channels
all cont. print hand data. merging all launch files with arguments and defaults.
note in launch file
managing controller consistency. added joint name array to all. included sleep timer template. next step is publisher consitency
made all new launchers that can take controller name as parameter. Also, more consistent controllers.
launchers now load both fuerte and groovy versions. fixed templates printing hand info
Readme needs to be updated
Merge branch 'dev'