Diagnostics and service commands

The service functions: a test move of one joint, a joint free to turn by hand, the Hall sensor check, the drives' gains, the control loop's read order, log levels, telemetry captures and recipes, and the motion filters.

• For setting up and servicing a robot, not for production programs.
• Some move a joint or take its torque away. Their pages say so in a warning.

Command	What it does	Runs
joint_test	Move one joint a few degrees and back, as a powered test.	At once
free_joint	Free one joint so it can be turned by hand.	At once
hall_check	Start or stop the Hall sensor check: its joint goes limp.	At once
set_pid_gains	Set the control gains and limits of one joint's drive.	At once
set_can_read_first	Choose whether the robot reads CAN first in each control tick.	At once
set_log_level	Set the level of one of the robot's loggers, without a restart.	At once
capture_telemetry	Record the robot's per-tick data into a file on the robot.	At once
stop_capture	End the running telemetry capture now and save what it has.	At once
set_recipe	Choose the telemetry recipe that the robot's data streams carry.	At once
reload_recipes	Read the telemetry recipe files again and use them at once.	At once
reload_filters	Read the signal filter file again and apply it at once.	At once

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