Motor control and related software systems for the 4Front robot
Motor definitions:
ID 11 - motorHead: up/down head movement
ID 12 - motorNeck: left/right head movement
ID 21 - motorLAT: left arm tip, flaps arm in/out
ID 31 - motorRAT: right arm tip, flaps arm in/out
ID 22 - motorLAS: left arm shoulder, swing arm forward/backward
ID 32 - motorRAS: right arm shoulder, swing arm forward/backward
ID 24 - motorLAE: left arm elbow, bends arm in/out
ID 34 - motorRAE: right arm elbow, bends arm in/out
ID 41 - motorSpine: leans forward and backward
ID 43 - motorWaist: left/right waist rotation