Merge pull request #5 from jakeammons/two_section_kinematics

added move utility example

v1.2.1

fixed some bugs in capstan and encoder

fixed style

added new capstan constructor for motor drivers that don't have fault or current sense pins

cleaned up code and updated almost everything for new hardware with the exception of calculating new kinematics 🤖

Merge pull request #4 from jakeammons/u_v_kinematics

v1.2

fixed called to set_length() in Kinematics::update_parameters(), fixed return to home in init, replaces switches with if statements

added u v parameters to kinematics, still needs testing

v1.1.3

Merge pull request #3 from jakeammons/fix_floats

fixed some floating point rounding errors

1.1.2 release