4. For the Z80 implementation, I did zero steering. For the Spectrum implementation I used extensive steering for implementing the TAP loading. More about my feedback to the agent later in this post.
And, if a robot arm were to swing out towards you, for safety reasons you would want to be able to immediately stop it and push it back without harming yourself, reverse that motion instantly. For one thing, that requires a back-driveable actuator.
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