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"label":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">This switch is to manage when direction changes. In this case, the counter measures both the time to go and return (so twice the time) within the Hall change. However, the angle to stand-still is not known. As a work around just use the previous motor speed in absolute value.</span></p></body></html>",
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"name":"<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 4.0//EN\" \"http://www.w3.org/TR/REC-html40/strict.dtd\"> <html><head><meta name=\"qrichtext\" content=\"1\" /><style type=\"text/css\"> p, li { white-space: pre-wrap; } </style></head><body style=\" font-family:'Helvetica'; font-size:10px; font-weight:400; font-style:normal;\"> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Speed calculations:</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Speed_radps = (f_ctrl_Hz * Mechanical_angle_radps) / z_counter</span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">cf_spd_coef</span><span style=\" font-size:10px; color:#ff0000;\"> = f_ctrl_Hz * Mechanical_angle_deg * pi/180 * 30/pi </span></p> <p style=\" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;\"><span style=\" font-size:10px; color:#ff0000;\">Speed_radps = cf_spd_coef / z_counter</span></p></body></html>",
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