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here's a circuit diagram of your electronics, i was getting myself confused going between the documentation, I've taken it from your drawing and the info in the coding let me know if this is correct or not.
Hi awesome idea, thinking about making one for my Godson, one query. What model of the JSX-370 did you get (reduction ratio)? one other point if you are using the diode between the transistors emitter and collector to protect the Nano I don't believe you need it as the TIP120 has one integrated into the IC.
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