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When I took the MSF course they had us do a drill coming into a turn a little bit faster then they had us doing other drills. We were to pull the bike up and panic stop as fast as we could without locking up the breaks.
The reason was to give us a taste if we ever would have to do this in real life.
Though at the end of the course and we were standing around waiting for those to be told that they failed quietly away on the side.
A instructor said if you go into a turn too hot ride it out. The bike will scrape long before the tires will lose traction. So do not be afraid to lean.
Scraping floorboards and pegs is the audible signial you are getting close to exceeding the bikes limits. I can be unnerving at first but you shouldn't panic when it happens. That just makes the situation worse.
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