Promote dev to main - #1
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…ds, and inputs, and create commands to run the guts forward and backward.
…g able to run them both.
…eparate instance of it for each of the two guts.
…once, and add a variable to invert the motor depending on what side gut is being created so that both sides run forward with the same command.
…ians and radians per second for position and velocity respectively.
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