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And small amounts of supporting hardware Microcontroller and smoothed PWM https://kassu2000.blogspot.com/2019/10/quantizer.html using a microcontroller.

• -9.493289e-01 3.142843e-01 2.193642e-04 vertex -1.042727e+02.
• -2.985593e+000 9.983999e+000 vertex -2.441682e+000.

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