Prototyping rig

Prior to installing the final system in the exhibition space, I tested the motion math, as well as the motor control system, by building a small three-sided testing rig. I installed the motors and spools, and moved a small weight around to see if I could successfully control its positioning. It was buggy at first; I confused motors for each other in code, plugged in steppers backwards so they ran the wrong way, and I had to empirically find how many steps were needed for a motor to move one "unit." But building this rig was very helpful and basically once I'd validated the math, I was able to move the small weight to pretty much any position inside the reasonable motion envelope of the equilateral triangle the motors were arranged in.