Velocity control

[tygamvrelis]

Describe the feature
Controlling motors via specification of velocity

Reason for request
RL team uses velocity control in their models. Thus, future iterations of the control systems may require velocity signals as inputs.

Timeline
Ideally would be ready at the beginning of November, 2018.

Additional information
To support velocity control:

1. Support the reception of goal velocity requests from the PC
2. Support the transmission of goal velocity requests to motors
3. Determine whether, to achieve this feature, the motors would be (1) run in wheel mode with angle limits or (2) run in joint mode with some other mechanism for ensuring safe velocity control

[tygamvrelis]

Update: can start working on this after Dec 3, 2018