a blender which cares only about tasks, a.k.a. hard objectives
quickndirty
simple test with just three tasks... and it shows the old misbehavior that got me started on this entire journey back in january. will reinstate the acceleration-based pd controllers to cope with that.
Resurrecting old stuff, but making it more flexible and
runtime-configurable in the process.
time to give up on this deadline, it is looking hopeless and i have pushed aside too many other urgent things