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The FOC code is running through over 10,000RPM (2 pole pairs) in order to produce 5,000RPM of revolution. That may be too fast for the 10kHz control loop... I wonder if we should bump the A/D readings up to 20kHz, and do the IGBT switching still at 10kHz... That would mean needing to boost the microcontroller frequency from 14.7MHz up to 29MHz. That's no big deal. It's a 30MHz microcontroller. Fortunately you don't need to go over 10,000RPM mechanical! haha.
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