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New gait.
Tab 1 - "4" will toggle sliding.
Maybe someone would advise me how to project it on projector the easy way
Here is two steps of forcing rotors.
1) Increase angular velocity over required if rotor turn too slow. I found that result power also depend on angular velocity.
2) If angle debt reach specified treshold - I kick rotors setting limit to rotor angle +/- 0.005 radians depending on requied direction of rotation. Then in next tick set limits to safe values.
I've got 0.005 in experiments. It provide decent power boost, but don't look like the tremor.
@conKORD - how is it that you develop an idea for where your rotor limits need to be? Through my experimentation with walkers, it seems like rotor limits are largely a trial-and-error function until you find something that works.