Jogging commands

The commands that move one joint at a time on request, as a teach pendant's jog buttons do, and the settings for how a jog speeds up and brakes.

• JOG mode first: enter_jog_mode(). A joint moves while jog() asks for it and stops at jog_stop() or at a limit, where it brakes by itself.
• Joints are counted from 0 in jog(): 0 is J1, 5 is J6.

Command	What it does	Runs
jog	Start jogging one joint: it moves until jog_stop() or a limit.	At once
jog_stop	Stop jogging: the joint brakes to rest along its path.	At once
set_jog_accel	Set the jog's ramp time, from rest to a joint's full speed.	At once
set_jog_profile	Set the jog's profile: with its jerk limited, or not.	At once
set_jog_jerk_factor	Set the jog's jerk, as a multiple of its acceleration.	At once
set_jog_control_mode	Set how the drives follow a jog: PID or PD control.	At once

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