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PID control? how do you collect the data to properly tune that? Blind bench tuning is crazy... Not sure how you set up wheel spin under repeatable, controlled circumstances to sort that out unless I'm looking at it wrong. Good news is D can probably be left at 0, so you're down to 2 variables. It's an awesome approach, but getting it to work even close to correct seems like a crapshoot.
Later
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