In the video the motor starts in 6 steps, with reaching 200 erps it switches to 60° interpolation and immediatly falls back to 6 step, but the shown erps are suddenly lower than before, but you don't recognize the Chainwheel is turning slower ?!

Code: Select all

```
correction angle 127, Current 192, PWMMode 0, InterpolationState 2, dutycycle 59, setpoint 52, erps 192
correction angle 127, Current 192, PWMMode 0, InterpolationState 2, dutycycle 59, setpoint 52, erps 195
correction angle 127, Current 128, PWMMode 0, InterpolationState 2, dutycycle 60, setpoint 53, erps 200
correction angle 127, Current 0, PWMMode 1, InterpolationState 3, dutycycle 60, setpoint 53, erps 256
correction angle 127, Current 0, PWMMode 0, InterpolationState 2, dutycycle 60, setpoint 53, erps 122
correction angle 127, Current 0, PWMMode 0, InterpolationState 2, dutycycle 67, setpoint 59, erps 139
```

Then accelerating again until erps = 200 (with much higher rpm of the Chainwheel than at the initial start) and switching to stable 60°interpolation, but again with high drop of shown erps...

Code: Select all

```
correction angle 127, Current 192, PWMMode 0, InterpolationState 2, dutycycle 91, setpoint 61, erps 197
correction angle 127, Current 192, PWMMode 0, InterpolationState 2, dutycycle 91, setpoint 76, erps 190
correction angle 127, Current 128, PWMMode 0, InterpolationState 2, dutycycle 98, setpoint 31, erps 190
correction angle 127, Current 64, PWMMode 1, InterpolationState 3, dutycycle 77, setpoint 0, erps 202
correction angle 127, Current 192, PWMMode 1, InterpolationState 3, dutycycle 99, setpoint 52, erps 137
correction angle 127, Current 64, PWMMode 1, InterpolationState 3, dutycycle 99, setpoint 76, erps 137
correction angle 127, Current 192, PWMMode 1, InterpolationState 3, dutycycle 99, setpoint 86, erps 137
```

then lowering speed to near zero with fall back to 6 step, suddenly it switches to PWM bipolar

Code: Select all

```
correction angle 127, Current 64, PWMMode 0, InterpolationState 2, dutycycle 18, setpoint 25, erps 30
correction angle 127, Current 64, PWMMode 0, InterpolationState 2, dutycycle 18, setpoint 25, erps 28
correction angle 127, Current 64, PWMMode 0, InterpolationState 2, dutycycle 18, setpoint 25, erps 28
correction angle 127, Current 64, PWMMode 1, InterpolationState 3, dutycycle 15, setpoint 22, erps 1420
correction angle 127, Current 64, PWMMode 1, InterpolationState 2, dutycycle 15, setpoint 22, erps 98
correction angle 127, Current 128, PWMMode 1, InterpolationState 2, dutycycle 15, setpoint 22, erps 98
correction angle 127, Current 128, PWMMode 1, InterpolationState 2, dutycycle 15, setpoint 22, erps 100
```

It's all a little mysterious...