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paper-stable is the current functional branch. To calibrate and run the controller, use the print statement tagged with "CALIB". The controller must be disable by commenting out the line that sets duty cycle, also tagged with "CALIB". Finally, set the calibration profile by uncommenting the section in the increment function that is tagged with "CALIB".

The controller will curl and uncurl the finger several times, and the data should be saved to a csv. The data can then be processed using the feedforwardnode python file. The resulting sets of threshold, slopes, and offsets can then be entered near the top of the file in the Constant Declarations section. Enable the controller, and pick a input profile to run in the increment function and everything should be functional.