add target vel and torque getter

Author: SteveNguyen

poulpe_ethercat_controller/src/lib.rs

@@ -779,6 +779,13 @@ impl PoulpeController {
         self.set_register_values(id, PdoRegister::TargetVelocity, target_velocity)
     }
 
+    pub fn get_current_target_velocity(
+        &self,
+        id: u32,
+    ) -> Result<Option<Vec<f32>>, Box<dyn std::error::Error>> {
+        self.get_register_values(id, PdoRegister::TargetVelocity)
+    }
+
     pub fn set_target_torque(
         &self,
         id: u32,
@@ -787,6 +794,13 @@ impl PoulpeController {
         self.set_register_values(id, PdoRegister::TargetTorque, target_torque)
     }
 
+    pub fn get_current_target_torque(
+        &self,
+        id: u32,
+    ) -> Result<Option<Vec<f32>>, Box<dyn std::error::Error>> {
+        self.get_register_values(id, PdoRegister::TargetTorque)
+    }
+
     pub fn get_error_codes(&self, id: u32) -> Result<Vec<u32>, Box<dyn std::error::Error>> {
         let slave_id = id as u16;
         match self.get_pdo_registers(slave_id, PdoRegister::ErrorCode) {