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Re: Robot starts and stops rapidly. Makes a meshing sound.
Are you sure your code is not trying to write weird numbers to the motors? Perhaps a 100% followed by a 0% in rapid succession?
If you go back to the "non smoother" code, does this problem still exist?
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If molecular reactions are deterministic, are all universes identical?
RIP David Shafer: you will be missed
 
 
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