I have two questions:
1) what is the best way to rubber band a chainbar?
2) can anyone provide a simple slew rate function? One that returns a value to be put into the motor.
If you have the posts on each side slightly higher than the chainbars pivot, you can go from the top of the post to anywhere on the chainbar? You could also do something weird where you attach to the chainbar, go over the post (or something in line with that) and then attach lower down the post - more tension.