message: Put anticogging in the FF path if we're doing a controlled move
diff: @@ -96,6 +96,7 @@ bool Controller::anticogging_calibration(float pos_estimate, float vel_estimate)
  bool Controller::update(float pos_estimate, float vel_estimate, float* current_setpoint_output) {
  // Only runs if anticogging_.calib_anticogging is true; non-blocking
  anticogging_calibration(pos_estimate, vel_estimate);
  + float anticogging_pos = pos_estimate;
  // Controlled Move
  if (config_.control_mode >= CTRL_MODE_PLANNED_MOVE_CONTROL) {
  @@ -111,6 +112,7 @@ bool Controller::update(float pos_estimate, float vel_estimate, float* current_s
  // current_setpoint_ = myTraj.Ydd;
  current_setpoint_ = 0.0f; // Temporary, until we have a way of converting from accel to current
  }
  + anticogging_pos = pos_setpoint_; // FF the position setpoint instead of the pos_estimate
  }
  // Position control
  @@ -133,7 +135,7 @@ bool Controller::update(float pos_estimate, float vel_estimate, float* current_s
  // We get the current position and apply a current feed-forward
  // ensuring that we handle negative encoder positions properly (-1 == motor->encoder.encoder_cpr - 1)
  if (anticogging_.use_anticogging) {
  - Iq += anticogging_.cogging_map[mod(static_cast<int>(pos_estimate), axis_->encoder_.config_.cpr)];
  + Iq += anticogging_.cogging_map[mod(static_cast<int>(anticogging_pos), axis_->encoder_.config_.cpr)];
  }
  float v_err = vel_des - vel_estimate;
  