[JTC] Add option to hold position on last command

[christophfroehlich]

As suggested with #759, there is now an option to hold the position of the last command instead of the state read from the hardware.

I added a new parameter, but we could also use the already existing open_loop_control? @firesurfer Is there a use case for open_loop_control==false but one would like to hold the last commanded point?

Still missing:

• Tests

This closes #759

[codecov]

Codecov Report

Merging #794 (ef6d37e) into master (2c6d7a6) will decrease coverage by 14.41%.
Report is 4 commits behind head on master.
The diff coverage is n/a.

❗ Current head ef6d37e differs from pull request most recent head cd6e415. Consider uploading reports for the commit cd6e415 to get more accurate results

Additional details and impacted files

@@             Coverage Diff             @@
##           master     #794       +/-   ##
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- Coverage   45.29%   30.88%   -14.41%     
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  Files          40        7       -33     
  Lines        3663      832     -2831     
  Branches     1730      505     -1225     
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- Hits         1659      257     -1402     
+ Misses        821      133      -688     
+ Partials     1183      442      -741     

Flag	Coverage Δ
unittests	30.88% <ø> (-14.41%)	⬇️

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see 37 files with indirect coverage changes

[firesurfer]

@christophfroehlich Thanks for adding this option.

I am not sure actually about the use case. But I think reusing the parameter could be quite confusing

[christophfroehlich]

See #811, we will use a different solution.