diff --git a/content/blog/2023-11-23-pid.md b/content/blog/2023-11-23-pid.md
new file mode 100644
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+++ b/content/blog/2023-11-23-pid.md
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+---
+title: PID
+description: Getting from here to there
+date: 2023-11-23
+tags:
+ - math
+draft: true
+extra:
+ auto_center_images: true
+ excerpt: A post about PID controllers
+ uses:
+ - mermaid
+aliases:
+ - /blog/pid
+---
+
+
+We are here.
+
+
+
+And we want to go there.
+
+
+
+## Figuring out how to get there
+
+The first step in getting from *here* to *there* is knowing where *there* *isn't*.
+
+I suppose a good place to start is checking to see if *here* and *there* are in fact the same place.
+
+Are we there?
+
+
+
+*Nope.*
+
+Well, let's say we want to go *there* from *here* (because we do).. Which way do we have to go?
+
+
+
+I think we can do that. How far will we have to travel?
+
+
+
+Great!
+
+## Getting there
+
+So, we know where we are, we know where we aren't, and we know the distance and direction we'll have to travel. What's next?
+
+Unfortunately, as the answer tends to be, physics is next.
+
+We can't exactly just *go* there. We have to *get* there. And that means we have to spend some time 'twixt *here* and *there*.
diff --git a/content/blog/2023-11-24-tank-tracks.md b/content/blog/2023-11-24-tank-tracks.md
new file mode 100644
index 0000000..dcb9e8a
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+++ b/content/blog/2023-11-24-tank-tracks.md
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+---
+title: Tank Tracks
+description:
+date: 2023-11-24
+tags:
+ - math
+draft: true
+extra:
+ auto_center_images: true
+ excerpt: A post about the math behind tank tracks
+ uses:
+ - mermaid
+aliases:
+ - /blog/tank-tracks
+---
+
+$$
+ f(\vec{v}) =
+ \vec{v} +
+ \begin{bmatrix}
+ 0 & 1 \\\\
+ -1 & 0
+ \end{bmatrix}
+ \vec{v}
+$$
diff --git a/static/images/posts/pid/are_we_there.svg b/static/images/posts/pid/are_we_there.svg
new file mode 100644
index 0000000..446be9b
--- /dev/null
+++ b/static/images/posts/pid/are_we_there.svg
@@ -0,0 +1,96 @@
+
+
+
+
diff --git a/static/images/posts/pid/here.svg b/static/images/posts/pid/here.svg
new file mode 100644
index 0000000..9b186d9
--- /dev/null
+++ b/static/images/posts/pid/here.svg
@@ -0,0 +1,53 @@
+
+
+
+
diff --git a/static/images/posts/pid/here_there.svg b/static/images/posts/pid/here_there.svg
new file mode 100644
index 0000000..453e33c
--- /dev/null
+++ b/static/images/posts/pid/here_there.svg
@@ -0,0 +1,76 @@
+
+
+
+
diff --git a/static/images/posts/pid/how_far.svg b/static/images/posts/pid/how_far.svg
new file mode 100644
index 0000000..522c463
--- /dev/null
+++ b/static/images/posts/pid/how_far.svg
@@ -0,0 +1,114 @@
+
+
+
+
diff --git a/static/images/posts/pid/this_way.svg b/static/images/posts/pid/this_way.svg
new file mode 100644
index 0000000..04e0cb7
--- /dev/null
+++ b/static/images/posts/pid/this_way.svg
@@ -0,0 +1,135 @@
+
+
+
+
+
+And we want to go there.
+
+
+
+## Figuring out how to get there
+
+The first step in getting from *here* to *there* is knowing where *there* *isn't*.
+
+I suppose a good place to start is checking to see if *here* and *there* are in fact the same place.
+
+Are we there?
+
+
+
+*Nope.*
+
+Well, let's say we want to go *there* from *here* (because we do).. Which way do we have to go?
+
+
+
+I think we can do that. How far will we have to travel?
+
+
+
+Great!
+
+## Getting there
+
+So, we know where we are, we know where we aren't, and we know the distance and direction we'll have to travel. What's next?
+
+Unfortunately, as the answer tends to be, physics is next.
+
+We can't exactly just *go* there. We have to *get* there. And that means we have to spend some time 'twixt *here* and *there*.
diff --git a/content/blog/2023-11-24-tank-tracks.md b/content/blog/2023-11-24-tank-tracks.md
new file mode 100644
index 0000000..dcb9e8a
--- /dev/null
+++ b/content/blog/2023-11-24-tank-tracks.md
@@ -0,0 +1,25 @@
+---
+title: Tank Tracks
+description:
+date: 2023-11-24
+tags:
+ - math
+draft: true
+extra:
+ auto_center_images: true
+ excerpt: A post about the math behind tank tracks
+ uses:
+ - mermaid
+aliases:
+ - /blog/tank-tracks
+---
+
+$$
+ f(\vec{v}) =
+ \vec{v} +
+ \begin{bmatrix}
+ 0 & 1 \\\\
+ -1 & 0
+ \end{bmatrix}
+ \vec{v}
+$$
diff --git a/static/images/posts/pid/are_we_there.svg b/static/images/posts/pid/are_we_there.svg
new file mode 100644
index 0000000..446be9b
--- /dev/null
+++ b/static/images/posts/pid/are_we_there.svg
@@ -0,0 +1,96 @@
+
+
+
+
diff --git a/static/images/posts/pid/here.svg b/static/images/posts/pid/here.svg
new file mode 100644
index 0000000..9b186d9
--- /dev/null
+++ b/static/images/posts/pid/here.svg
@@ -0,0 +1,53 @@
+
+
+
+
diff --git a/static/images/posts/pid/here_there.svg b/static/images/posts/pid/here_there.svg
new file mode 100644
index 0000000..453e33c
--- /dev/null
+++ b/static/images/posts/pid/here_there.svg
@@ -0,0 +1,76 @@
+
+
+
+
diff --git a/static/images/posts/pid/how_far.svg b/static/images/posts/pid/how_far.svg
new file mode 100644
index 0000000..522c463
--- /dev/null
+++ b/static/images/posts/pid/how_far.svg
@@ -0,0 +1,114 @@
+
+
+
+
diff --git a/static/images/posts/pid/this_way.svg b/static/images/posts/pid/this_way.svg
new file mode 100644
index 0000000..04e0cb7
--- /dev/null
+++ b/static/images/posts/pid/this_way.svg
@@ -0,0 +1,135 @@
+
+
+
+