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update gravitycal logic

Amy Blank requested to merge feature/update-gravitycal-logic into devel

Description

Separating functions of the main loop and the control loop. The goal is to minimize what needs to happen during the control loop. Hopefully this is also cleaner and easier to understand.

Control loop is responsible for:

  • updating trajectory
  • calculating and sending torques
  • capturing data if needed (only in certain states)

Main loop is responsible for:

  • state transitions
  • calculations
  • handling key press input

TODO:

  • test run on robot

What to focus on

  • put content here.

Reviewers

Resources

Issues

  • Fixes #53

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