message: Change move_incremental to use input_pos
diff: @@ -41,12 +41,14 @@ void Controller::move_to_pos(float goal_point) {
  goal_point_ = goal_point;
  }
  -void Controller::move_incremental(float displacement, bool from_goal_point = true){
  - if(from_goal_point){
  - move_to_pos(goal_point_ + displacement);
  +void Controller::move_incremental(float displacement, bool from_input_pos = true){
  + if(from_input_pos){
  + input_pos_ += displacement;
  } else{
  - move_to_pos(pos_setpoint_ + displacement);
  + input_pos_ = pos_setpoint_ + displacement;
  }
  +
  + input_pos_updated();
  }
  void Controller::start_anticogging_calibration() {
  