[Bendito]

Good advice, we were not planning on running at 5000, closer to 4000 at realistic max. We have had around 30%-40% headroom roughly. I was just testing how fast it would go. It does seem to work with 1 tape segment, I just overheard someone in another thread suggesting more resolution for a similar application.

The averaging of samples to number of ticks in one revolution makes sense now, thanks! Of course, with 1 tick, having a few averages shouldn't hurt, but really shouldn't be necessary now that I think about it.

Now just to properly tune the PID so that it gets to the correct speed quickly without oscillation (hint to anyone with this problem, an additional offset added to the output can help get up to the proper speed range without cranking P too hard into oscillation territory) That's tomorrow's project.

Thanks for the advice.