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I remeber a while back on the official First forums that some team wanted to use a steper motor as a encoder. They said it was ok. This might work.
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If either a public officer or any one else saw a person attempting to cross a bridge which had been ascertained to be unsafe, and there were no time to warn him of his danger, they might seize him and turn him back without any real infringement of his liberty; for liberty consists in doing what one desires, and he does not desire to fall into the river. -Mill
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