Like playing chase-the-laser-pointer with a kitten.
After a couple weeks of hacking on the Gilson we have PID* control.
When we first saw the Gilson, we didn’t have access to any feedback mechanisms. All we had were panic stop modes of control. After a ton of experimentation, and Nick reading five control theory books, we are having fewer incidents in which someone yells “Holy Crap Make It Stop Before It Destroys Itself!” It’s not yet a null set, but the cardinality is significantly reduced.
<cue loud bang>
* proportional integral derivative