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Originally Posted by Arefin Bari
This is Very Cool. Thanks joe for the whitepaper. even though this maybe be time consuming, its definitely worth it. and its not even that much money only 65 dollard. Again, Thanks Joe. 
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There is one mistake in the paper that I want everyone to know about.
Page 17 - Step 3. for the Fisher Price - The distance from the top of the pinion gear to the front of the motor case should be 0.72 inches. not .072 inches. Had a bad day with decimal points.