If by "proof-mass actuators" you mean "motors," then yes :)

Bluetooth actually. We like that you can open an app and have it automatically connect directly to the device rather than having to reconfigure WiFi settings every time you want to connect. WiFi is good for a static device in your home but for something you take around with you (ie: the ball) Bluetooth is the better way to go.

As for lag, none that you could humanly tell. Bluetooth is a lot slower than WiFi but as long as we're not trying to steam video (over a few fps) it's more than enough.

Cheers,
Ian

-GearBox Inc