Refactored controller factory
Refactored controller factory

NeuralProsthesisLab/unlock,NeuralProsthesisLab/unlock,NeuralProsthesisLab/unlock,NeuralProsthesisLab/unlock,NeuralProsthesisLab/unlock,NeuralProsthesisLab/unlock,NeuralProsthesisLab/unlock