- ADC samples faster and the extra values are used for interpolation.
- Interpolation takes 4 median values out of 3 samples and then takes the average of those 4 medians. This was the best compromise between spike suppression and and cpu time. A true 12 sample median takes too long (10µs)
- Updated the slip angle calculation so now fslipmax and fslipmin represent the true slip frequency, no longer multiplied with the pole pairs.
- Changed the regen ramp to go all the way down to 0 instead of ampmin
- Added value "t" which is the motor torque calculated out of actual power over speed. Of course this is only an estimate.