I am in the process of completely rewriting a robotics codebases due to efficiency problems. And oh. My. god. The code is hell..

Allocating a new section of memory just to store a simple class in a loop that runs once every 20ms.. who thought that was smart??

Having piece of code that stole control over hardware from each other? Because "that will never go badly"...

Anyways. I am about half way through and very confused how this code was able to run..

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