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…s_FSM_General_Controller Adding C++ general controller to control systems branch
Torque Controller assumes that the hip and knee joints follow a sinusodial pattern. We can change this, when we get real data from the AI team. Running "make run_plot", runs the control system and outputs the Joint trajectories with their respective output torques using MatPlotLib.
Add Torque Controller to ActiveState.cpp
Integrate IMU joint anle input into torque controller - Replaced sinusoidal test angles with real data from AI team (JSON) - Added IMUDataLoader directory to load and preprocess Right Knee joint angles - JointEstimator now supports variable dt from IMU timestamps - Skipped noisy samples with dt < 10ms to avoid torque spikes - Updated ActiveState.cpp to run a 120 second test for real data TODO: - Add support for AI-predicted hip angles (currently using simulated sine wave) - Think about how to handle the knee angle normalization: - Currently we assume min roll = full extension (0 rad), but that may not be correct
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