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That's awesome Joe!!! The latchup could also have been caused by a stupid line of code that I had in there. It was if throttle was less than a certain value that was out of range, then enter an infinite loop. Fran looked at that part, and said "Paul, check out line xxx". I then said "Is that what's causing the latchup?" Then he said "ya, maybe..." But also the lack of diodes could have been the cause too, but we fixed the software problem as well. Now the throttle has to be out of range for like 0.1 seconds before it causes an error.
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