всё сломал, пытаюсь вывести и смоделировать куб на поворотной платформе

the gyrocube is not controllable when put on a rotating platform

good maxima equations

speed/torque stabilization + low-pass filter

First working stabilization. Major milestone!

lqr python code + velocities are read correctly

GLVG + dynamixel are set up: they give readings corresponding to the paper. Rewind of the CMG is working (DWT bugfix)

dynamixel is working, but the code is ugly

dynamixel irq handler stub

dynamixel irq handler stub

dynamixel irq handler stub

ugly current

dynamixel refactoring, something works

something is working but all that is extremely ugly

both dynamixel and svg are kinda working