Back when I worked on this hardware/software integration, we often didn't have the hardware to test. So we coded to the specs. I spent a lot of time reading

Back when I worked on this hardware/software integration, we often didn't have the hardware to test. So we coded to the specs. I spent a lot of time reading those and trying to figure out what they meant. It was a little challenging but usually all the information was there. It worked (mostly) and we tested alot. Some stuff was strange, I still remember seeing angles in BAMs (Binary Angle Mesurements) https://en.wikipedia.org/wiki/Binary_angular_measurement https://en.wikipedia.org/wiki/Binary_angular_measurement