- Moved the trajControl method to the private section of the CustomRobot class for better encapsulation.
- Introduced traj_dt_ and traj_count_ member variables to manage trajectory timing and state.
- Removed the createExampleTrajectory function to streamline the code and eliminate unused functionality in trajectory handling.
- Added methods for trajectory control: trajControl, startTraj, and stopTraj.
- Integrated trajectory control into command processing for starting and stopping dynamic trajectories.
- Introduced a recurrent thread for continuous trajectory updates at a frequency of 50Hz.
- Initialized trajectory control state management with atomic flags.
- Added Recharge class for managing automatic recharge capabilities using ArUco markers.
- Integrated recharge functionality into CustomRobot, including command processing for starting and stopping recharge.
- Updated CMakeLists.txt to include the new recharge.cpp source file.
- Enhanced README.md to document the new auto recharge support feature.
- Commented out all references to LowController in custom_robot.hpp and custom_robot.cpp to disable its functionality.
- Added warning log in processLowCmd to indicate that LowController functionality is currently disabled until re-implementation.
- Added LowController class to manage low-level commands and communication.
- Updated CustomRobot to initialize and manage LowController, including methods for processing low-level commands.
- Enhanced logger functionality with variadic template methods for formatted logging.
- Updated CMakeLists.txt to include the new low_controller.cpp source file and low_controller.hpp header.
