- modify design of large gear to fit further onto the servos. Should reduce the amount of 'wobble' they have
- add in states for each of the actuators and a way of detecting what state they are in -
        i.e. free, holding cube by 2, holding cube by 4 etc
        This means that we can trigger different angles and overshoot calculations in order to reduce moves etc.
      FFR
      DUR
      UBR

RBL   FUD   BUU  FDD
LLF   RFR   BRR  DBU
DUU   BLL   DDU  LFF

      RBB   
      FDL
      LLB

RDU
RUD
UBF

DRU
FRB
LDD

RFD
LFL
FFL

LDU
UDB
BLR

BUF
ULF
BBD

RLB
RBU
LRF


















u l f
r b d










