If you enjoyed this post, I would highly recommend this blog post on springs. Springs basically are PD controllers, and I reference this post all the time to un

If you enjoyed this post, I would highly recommend this blog post on springs. Springs basically are PD controllers, and I reference this post all the time to understand how to use them: https://theorangeduck.com/page/spring-roll-call https://theorangeduck.com/page/spring-roll-call