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9mS (your convergence time) may be OK. I don't know. My motor ended up with a convergence time of around 1.3mS. Now you need to find the rotor time constant. It's another test where you have to run through a variety of values. The nice thing is, the motor will spin each time you test one of those time constant values. One of them will give the highest RPM. But before you try that, you should probably just try some code where you manually turn the post, and see the encoder position through the serial port. We need to know that's working before you can do the rotor time constant test. I'll send that this weekend.
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