Ted,

I took a look at John's website and I think that you did a nice job. I 
like it.

I am fooling with using a 500 second integrator for leveling bias. The 
output of the integrator is applied to the motor at the summing junction 
of the PID feedback loop. It seems to work OK but I may just bite the 
bullet and add a second motor dedicated to simply providing the position 
bias. I hate to add the extra wire, so I will test the existing system 
for a bit before I give up on it.

Dave Youden


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