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I did not know there was a CTR coding manual. I've been reading it now for an hour or so. Thank you. I don't have specifics yet on the problems other than canTalon did not work with our CAN BUS. The challenge is trying to figure out how it works without examples. We have a qudratue encoder on our motor, and we are accessing it through the CAN, but it is not clear what classes to use. Are there any examples out there of just basic usage?