.</p></li>
<li><p>In the function <cite>run_joint</cite>, update the debug statements (the remaining code is non-joint specific).</p></li>
<li><p>In <cite>set_controller</cite>, update the debug statement and the switch case for the controller ID.</p></li>
</ul>
</li>
</ol>
</section>
<section id="jointdata-cpp">
<h2>JointData.cpp<a class="headerlink" href="#jointdata-cpp" title="Link to this heading">¶</a></h2>
<ol class="arabic simple">
<li><p>Update the switch statement in the JointData initializer (~li