Working on constraint code. Got the framework done, but didn’t have enough sleep to be able to do the math involved. So instead I…

Got the actuators mounted on the Phantom! Aside from having one of the force sensors break during mounting, it went pretty smoothly. I may have to adjust the sensitivity of teh sensors so that you don’t have to press so hard on them. At the current setting the voice coils aren’t behaving at higher grip forces. But the ergonomics feel pretty good, so that’s nice.