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I would suggest dropping a filter into the program to prevent going directly from full-forward to full-reverse no matter what the driver does. You shouldn't have to depend on the driver's skill. Mistakes can easily be made in the heat of competition and by less-experienced drivers.
See the "Programming" forum and white papers for details on filters.
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"Rationality is our distinguishing characteristic - it's what sets us apart from the beasts." - Aristotle
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