[Tom Line]

Ether - I'm not sure why you deleted your posts. The first one pointing to the paper helped me. Once upon a time when you first put that out I planned to throw it in excel and show my controls members how it worked. I did that last night, and with a couple tweaks found solutions that work with my 128 count encoder for both 3500 and 7500 with resolutions of +/- 2 and 4 rpm each at 10ms loop timing.

-Edit: Just saw your update that said there was a problem with your calculations. I look forward to the update so I can recheck my numbers.