Really good ride today, all prior posts affirmed. And yet the learning continues.

Refinements, subtleties, deeper understanding over and over and over. 

Item. The roiling. Where no pressure between thrust and Retract Is quite wonderful when rolling is achieved. Rolling into the areas of force where the

chafing, friction disk occurs. James does not know if this is something he can summon on command or simply hope that it shows up like it did today after an hour or so.

Item. Indeed, friction disk is crucial such that between roiling and contact it is not jarring to the momentum and entering the at chafing or friction generally does that. 

Item. PID interface. Yesterday was not nearly as smooth as prior days. The terrain was much more rolling which presents additional challenges. But one or several other factors may have contributed too. It may be that too much background Motor power was available maybe a factor of 7 where as four might have been more appropriate. Also it may be that upward roiling was neglected somewhat and that entry of the power portion was not sufficiently buffered by chafing or friction disk. It seemed that in today's journey those things helped quite a bit