Handling collision for motors
Check position and trajectory when there is a dependency between several motors. I believe the check should be static - stop at the very beginning, before any movement has been done. Two functionalities:
- check a given position. Maybe as a sub-case we can use if there is a motor, which does depend on another external lock and not on another motor?
- check a trajectory
This can be implemented in few different ways:
- Controller of a none type - a bit like a calculation motor, but with no emotion plug-in. It takes the configuration from an yml, with the necessary motor (or other equipment) references with two methods - check_position and check_trajectory.
- Local script (which still can get a configuration from an yml file). The idea is that in both implementations we address the _check_ready (for checking a position) and prepare_move (for checking a trajectory) axis method
!!! How and should we handle the backlash ?