Fences

The balance between freedoms and limitations is difficult to get right.
You are familiar with the process but not from that side of the fence.

You keep questioning the feedback loop. Are your sensors in the right place? Are you measuring the right values? Do we get fancy and preemptive or simply use a good reactive strategy with a lot of torque?

I have a feeling you don't know if you got it right until a lot later in the game.