nt (around line 10) and add a case for the new joint.</p></li>
</ul>
</li>
<li><p>In the function <cite>set_controller_params</cite>:</p>
<ul class="simple">
<li><p>Copy a case from another joint (paste it below the last joint) and update any references to the specific joint (e.g., elbow, ankle, etc.) to your new joint.</p></li>
<li><p>Make sure no references to the existing joints are missed in this section.</p></li>
</ul>
</li>
</ol>
</section>
<section id="realtimei2c-h">
<h2>RealTimeI2C.h<a class="heade