pymzor's comments

Thanks for pointing out an obvious reason of why position control for DC motor requires the cascade topology. Always used it, never understood formally why is was required. Just curious : how have you come to this conclusion / explanation ? Do you have any resources on the subject ? I'm still struggling to find a (formal again) rule on what should be the ratio between the outer and inner loop rates.

Awesome. Integrated CI is probably the move wich will make me move from gitHub.

Yet another alternative: https://rocket.chat/