So I think now I'll carry on actually running the calibration, then see if I can send a 'torque' command down / operate a control loop.
Great, this calibrates, so now I can roll a tiny control loop, yeah?
### Rolling a Loop
First up, I'm hanging this thing up when I try to run it in an interrupt: might need to make some volatile vars.
Ah - no, this is probably because I am running the control loop in an interrupt, but the var is never returning because that happens in *another* interrupt.
OK, have 50khz of this going on, now I need to apply some twerk vector and see if I can poke it around.