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An idea for the instant speed problem. (Stolen from the space shuttle software.) Take 3 time readings (time between pulses) and average the 2 that are closest in value to each other.
If you have the following 3 values: 100 45 47, have it throw out the 100 and return a value of 46.
I have some experience in optimizing code. Would you mind if I look at the source and help save some memory?
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