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I did the embroidery for the pedal for icecycle66.  The trick was finding a font small enough to stitch out nicely.  I used embroidery software to add and position the letters.  I took some rough measurements for the first iteration of the design.  Once the design is created, it goes on a USB that goes into my machine.  I stitched it out a few times to check the position.   We'd make small changes and I'd tweak the design and re-stitch.  The application looks great!