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Paul - I'm going to work on the larger motor (siemens AC motor) coupled to the warp9 with the built-in encoder on the AC motor. Let me know when you get the new combined code tested - hopefully on MPlab X - so I can do a built and use debug to see what is holding me out from continuing my testing.
Did you get a BOM written up for the new DC board? I can get parts ordered and start playing with that between working on the AC controller testing.
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