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Old 05-20-2009, 04:44 PM   #1331 (permalink)
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I actually haven't seen the source code in a while. I'm not sure if he is still doing the "one per cycle" increment/decrement. That wouldn't really be PI. State space, i think, is what we should really be using, but that's new tech and a little tricky. probably not worth the minor benefits.

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