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This is not a mountain out of a molehill. This is the absolute crux of everything. All last night I was looking at the assembly language version of the FOC code, counting cycles. I wrote it all in C, but might have to convert a little of it to assembly language:
Checking the motor position at 10KHz:
rpm..........................degrees/pwmPeriod
4000 ....................... 2.4
6000.........................3.6
8000.........................4.8
10000.......................6
11000.......................6.6
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