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I tried the smooth transition from throttle controlling current at 0 throttle to throttle controlling pwmDuty at max throttle. It felt really nice. I didn't do any hard testing, but it felt really good around the block.
The rate of transition from throttle controlling current to throttle controlling pwmDuty could easily be changed too. If people like the curtis feel, they could set the full transition to happen much sooner than full throttle, with the added benefit of not having a jerky start.
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