Update to GEN-CONTROLLER function:   The GEN-CONTROLLER function generates controller values in a given span (total length) with a defined time for each of the values (<value> <time>). The count of the sent messages is the sum of the time values equal to the span value. For example span 1/4 with time 1/128 will produce 32 values. (setf values (gen-sine 32 4 1.0)) (gen-controller 1/4 values) => ((64 1/128) (108 1/128) (127 1/128) (108 1/128)     (63 1/128) (19 1/128)