Comment by thip

Author here. Happy to answer questions on any part of this project whether that's the physics simulation, the RP2040 PCB design (including the rev 1 mistake that cooked a few chips), or the firmware optimisation journey. The interactive simulations in the post run the same algorithm as the firmware if you want to poke at the parameters. GitHub has everything to build your own, and there's a small run of finished units on my store too.