So one of the things I am goofing around with is something like "puppeting" the robot - meaning that it's not pre-programmed to follow a set of commands, but instead reacts to an outside controller telling it to move to a new location, and then another location, and so on. However, while I do seem to be able to tell the robot to "go to position X" (either by coordinates or by joint angles), I can't seem to "interrupt an in-progress move and change the destination" - I have to feed it a discreet "go here", then wait, then another "now go over there". Has anyone tweaked the code in such a way that 1. the target position is highly dynamic, and 2. where the arm is always moving towards a target position, even if that target changes mid-move, and it now has to move differently before it ever reached the previous target? (for example. I have played around with it in RoboDK, and it's still basically a discreet "go here" that it issues and then waits, as the teensy won't actually accept/read another command until the move is done)

Also, is the source code in a GitHub repo anywhere to be able to fork it? I simply uploaded it to my own little repo, but I wish I could more easily merge other people's changes / the "official" changes, as if I had forked it from an "official" git repo somewhere.

Anyway, thanks in advance if anyone has been exploring "puppetting" this robot like I am... :)