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I've found a few more bugs. won't be long now I hope. I had a scare when it said there was a desat event during debugging. it turned out to be a debugging array index that went out of bounds, and modified a couple variables. thank goodness the hardware protection is independent of the micro.
I made a rotor time constant vs rpm after 1 second curve. you get a nice clear smooth curve with a global maximum where the time constant is. I had to recompute it because there were a couple bugs in the rotor flux angle function.
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