I repainted my RV footpegs which were starting to look a bit rusty. I just sanded them down and removed the rust with sandpaper and a wire brush. Then I painted the steps with spray paint, which worked great. I used a Gator Grip self-adhesive strip as an anti-slip coating. It is just as rough as the original and helps make the step more secure. However. I do not recommend using it on lengths over 12 inches as the tape will expand when heated and tend to form a lifting bubble. So if you're going to use it on a stage, do it in separate sections of 12 inches or less with a small gap between sections to allow the material to expand and contract with temperature. Otherwise it is very similar to the original anti-slip coating I had on the front steps of my RV. Works great and looks professional when used properly.
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