Is there anyway to tune the controller gains beforehand? Also if you don’t mind me asking, how much did everything cost you? This looks super fun and I’m debating to build one.
Bobrow’s research mentions a set of equations that can be used to derive the controller gains based on a set of dynamics-related parameters of the cube (like inertia, mass), but the results were unsatisfactory, so I tuned the gains by hand. But in theory, yes.
