dekutree64

I have tested this, and in its current form it doesn't appear to work with anything but 1 pole pair. But if you paste in the electrical revolution tracking from...

I think it should be named dt, not Ts. Timestamp usually refers to an absolute time value when an event occurred, whereas this is the change in time since last...

That sounds the same as what we're talking about. The end users of the dt value are the lowpass filters and PIDs, which don't have access to the motor's member...

I do think this is the proper way to handle large angles, but it has a fairly large performance penalty to solve a problem that only affects a few users....