Modify how the speed is calculated? #5
Description
The speed ranges from 0 to 1023 (and 1024 to 2047
for the other direction). 1023 is 117.07rpm, 1 is 0.114rpm which is about 8 steps/s
(the magnetic encoder has 4096 steps). Therefore, to be able to measure a speed of
0.114rpm, we need to wait 128ms. This is very bad when you think "control loop", since delays
create instability. The easy solution is to reduce precision (unless you're using your
MX to build a clock, not sure it's useful to get a precision of 0.114rpm). A better
solution is to reduce precision (ie reduce delay) as speed goes up.