Updated to add a torque-limited, rate-controlled motor implemented as a PI controller.
Updated to add a torque-limited, rate-controlled motor implemented as a PI controller.

scamille/simbody,chrisdembia/simbody,simbody/simbody,scamille/simbody,elkingtonmcb/simbody,Gjacquenot/simbody,elen4/simbody,scamille/simbody,chrisdembia/simbody,elen4/simbody,chrisdembia/simbody,elkingtonmcb/simbody,robojukie/simbody,Gjacquenot/simbody,robojukie/simbody,robojukie/simbody,simbody/simbody,elkingtonmcb/simbody,Gjacquenot/simbody