Sinclair Interplanetary pioneered high-reliability vacuum-lubricated reaction wheels for picosatellites, nanosatellites and microsats. There are currently 76 wheels on-orbit, all working well.
All of these reaction wheels incorporate a built-in digital processor. They can be commanded over a serial bus to produce a desired speed, momentum or torque. They report digital telemetry concerning speed, temperature, voltage, current, and other health parameters.