roller-cpp" title="Link to this heading">¶</a></h2>
<ol class="arabic simple">
<li><p>Update the switch statement in the constructor of <cite>_Controller</cite> to incorporate the new joint (~line 35).</p></li>
</ol>
</section>
<section id="ble-commands-h">
<h2>ble_commands.h<a class="headerlink" href="#ble-commands-h" title="Link to this heading">¶</a></h2>
<ol class="arabic simple">
<li><p>In the function <cite>new_trq</cite>, update the joint_id mapping to include the new joint (ensure you update both 