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be set to upright instead of hanging). Updated system to allow for different angular units to be used (passed by argument on constructor, then passed to encoder.read_position when used). Bug fixes to system_swingup_test. Swingup test now runs properly (and almost actually did a swing up at one point), couldn't keep testing because the system accidentally destroyed itself, so called it time to stop to let glue dry....
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library and successfully got the encoder position controlling the motor speed.
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implementation details (linear encoder, motor orientation, etc.). Need to compile and test on RPi still.
Convert naming in other libraries to follow Python naming scheme.
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