Derive velocities from spline#175

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nanoticity wants to merge 19 commits into

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deritave-splines

Commits on Apr 26, 2026

final dp, robot was very very cooked
nanoticity
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Commits on May 3, 2026

get into kinda working state with sim, will debug more.
nanoticity
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update controller with the same changes that made simulator work
nanoticity
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Commits on May 4, 2026

Commits on May 6, 2026

Better types
nanoticity
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Commits on May 11, 2026

Remove redundant comment
nanoticity
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