lan gthang gập cái này, ko biết post đâu, cụ ckd cho em ké nhé
https://www.youtube.com/watch?v=Z6OMT1fIQnU
https://www.youtube.com/watch?v=eOvNkMFb-8s&feature=iv&src_vid=Z6OMT1fIQnU&annotation_id=an notation_1947366235
source code
https://github.com/neuroprod/ClosedLoopDriver