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The sensorless is working, but now I'm fine tuning it so it works as good as possible. Also it was getting really oscillatory after a certain RPM, and I forgot that I was doing the field weakening, which clamps Vd and Vq (field voltage and torque voltage). I think those sudden discontinuous updates of Valpha and Vbeta's magnitude mess with the sensorless algorithm. It still works, but does a crappier job. It's like if the real speed is 1000, before field weakening, it might be 1000 +/- 25, and after field weakening it is 1000 +/-200. But it is consistently above AND below. So the average speed is right.
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