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with gyro, a fast tilt, ignore, slight tilt, ignore, for a tilt past tolerance a preprogrammed acceleration curve stretched by angle and speed. that would take care of pothole problems, and prevent erratic acceleration up hills, just have that control the acceleration to target speed. slamming the throttle damages efficiency, doesn't it?
i think using targets and curves modified by angle measure and speed would be good for using the speedo clock as the feedback signal. throttle override of course, but, like abs, finessing stuff might make things worse.
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