My first attempt at crude position control with pneumatic artificial muscles. Yes, there's overshoot and lag etc, but I'm pleased I achieved this with basically just a comparator with some deadband, no PID (yet).

With better mechanical mounts for the PAMs and a different feedback sensor, I should be able to get tighter performance with software. But as a proof of concept; I'm happy! It may be a go for PAMs on DB-T7!

Raw video below because I'm too busy/lazy to make it fancy. Enjoy!