If I use a Kelly controller - here is the user manual
http://www.kellycontroller.com/mot/KellyKDUserManual.pdf
they seem to be a lot cheaper if you go stick to a 72V (rated voltage) system. I will have to do some calcs to see if I can get away with a 72V (or 84V with regen - need to know more about this) system.
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