As my dad taught me, "Nothing ever works the first time." If it ever does work the first time, I am DEEPLY suspicious.
Oh yes, especially with microcontrollers. It is quite easy to include a minor bug that does not show up regularly, just under very special conditions.
Btt: I also program my controllers (PIC) in C, but I think Assembler provides a much better efficiency. Anyway, until today my controllers have always had enough resources for my prorams, so I did not have to bother with that yet.
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