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I'm not sure what your problem is. I know i've seen it a lot with the trim being off on joysticks, but I'm not sure what your program might be doing, the only thing I could think of is that it doesn't set the output value for the pwm's to the motors to 127, but I'm not sure, hopefully someone will have something better for you, but worst come to worst I would think you should just have warmer motors.
Josh
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