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It's a big improvement now! First I changed how you get the angle offset, so now it's very accurate. Next, revved it up at 120v and the peak mechanical RPM of the motor post inside was 1560RPM clockwise and 1507 counterclockwise.
At 376v, it was 4898RPM clockwise, and 4762 counterclockwise.
I made the bounces a lot smaller when you crash into the voltage boundary, so you can't notice it at all. IT just revs as fast as it can and is stable right at max RPM.
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