e to the switch statement for the new joint.</p></li>
<li><p>Add the new joint class following the format of the existing joints:</p>
<ul class="simple">
<li><p>Include all controller instances in the initializer list along with the <cite>_Joint</cite> instance.</p></li>
<li><p>Update debug statements to reflect the new joint.</p></li>
<li><p>Update the switch case that creates an object for the specific motor type.</p></li>
<li><p>Update the call to <cite>set_controller</cite> at the end of the constructor