hello, I'm trying to find documentation on switching the control_mode in hardware, but the wiki site (here and here) disapeared and I can't find it with archive.org.

I know how to switch the controllers, but the read() and write() methods used in the RobotHW need to know if I'm sending effort or position commands. How can i do that?

I want to control my robot by effort and by position depending on the usecase. For the positions i have already set up positioncontrollers-jointpositioncontroller and PositionJointInterface, which work fine. Now i need effortcontrollers-jointeffortcontroller and a EffortJointInterface, right? But, again, how to determine which Interface is used when the controllers get switched?

Thanks in advance, Simon