Slow speed operation

In an earlier post you said that this works well even at low speeds due to the encoders, but in the turntable topic you mention that there is a significant cogging factor with hobby motors, which would seem to indicate that it doesn’t work well at low speeds.

so I’m confused

Hi @dlang, and welcome.
Yes I think the drive works well at low speeds due to encoder feedback.
In the turntable topic we said that there is indeed significant cogging torque in the hobby motors, but the encoder feedback should be able to overcome this.

Hello everyone,

there are several cogging torque ripple cancellation algorithms that work really well.

they might be relevant

Ah yes, I saw those two papers referenced from here:

Indeed was going to be my starting point when the time comes.