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More minor fixes edit #404

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rafaellehmkuhl
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After exhaustive tests, I think all edge cases are now fixed.

@patrickelectric patrickelectric merged commit 66f22c4 into bluerobotics:master Aug 2, 2023
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@rafaellehmkuhl rafaellehmkuhl deleted the more-minor-fixes-edit branch August 2, 2023 14:23
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