I got to lab #13c and I can now do position control will a brushless DC motor and an incremental optical encoder.

I'm very impressed by the performance of the motor in the evaluation kit. I can run it at 9,000 RPM, and can run it at 0.01 RPM.

The labs are fairly involved, and I needed to go through them about every-other one in order so that I could understand what was going on.

I've got "step-by-step" motion going on and I'll be testing settling time and overshoot this week.

Then I've got to go on and see if I can get it to vary its speed b yits rotor position.

So While it goes around once, I want it to change from 240 RPM, to 160 RPM, to 240 RPM to 160 RPM to 240 RPM all in one revolution.