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It is a headache but code space may drive you to it anyway...
Yes, it is a bother. But...
If you are out of code space it is an acceptable way out compared to just taking features out of your robot control.
It can be managed. we had 3 slots last year: Initialization, Get data & Arm calcs, and Wheel calcs & output data.
It worked okay, but sometimes we made mistakes from program to program and caused some subtle errrors. Very tricky to find if you are not aware of the possible problems.
Buyer beware!
Joe J.
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