I’m probably missing something obvious, but is there a graceful way to stop the anticogging calibration routine before it completes? Setting requested_state to IDLE stops it, but it appears to continue to increment input_pos, which means that the motor jumps the next time requested_state is set to CLOSED_LOOP_CONTROL.
Easiest way is to set the anticog calibration position and velocity thresholds to some higher value - this will cause it to finish much quicker.
Ok, while that’s not as graceful as I was hoping, I suppose it works well enough. Thanks!