Implement sensing for angular position, velocity, and acceleration for Subsystems (Arm, Drive, etc.)

[joshua-git0]

I'm going to look more into this and I think we could put this in Common folder for general motor control.. I saw the RMD motors come with encoders and also give acceleration feedback so there may be a way to do sensor fusion

[kammce]

Why do you need this? The motor reports all of this itself. It does all of the computation we'd ever need from the motors so we can simply ask them for the data rather than doing any of that work ourselves.

[joshua-git0]

Thanks for your feedback @kammce. I just remember we last discussed using accelerometers to sense angular position, velocity, etc.. tbh I'm not super familiar with the rmd_x.hpp file you wrote and I've still been looking at it but if it gives that info then we could change the title to 'Sensing for angular position of arm or robot'.

Come to think of it, if the motors are giving that data then I think it would be relative angular position, velocity, etc according to the motors own frame of reference. We could probably compute global values afterwards wrt to the whole robot's frame of reference..

tbh I'm not sure what information we would really need whether that's local or global position from the accelerometers or the data from the motors.

[kammce]

You only need the accelerometers for homing. After that you can simply tell the motors where to move to. They have their own encoding and position sensing but its relative so we need to do the work of finding their home initially.