Patent ID: 7898207

Claim:
A method of controlling a DC motor to cause said DC motor to execute a requested move toward a requested target position of a rotor of said DC motor, said DC motor being structured to execute a first move type and a second move type different than said first move type, said method comprising: calculating a deceleration rotor position for said DC motor, wherein when said deceleration rotor position is reached, said DC motor will be caused to execute a deceleration in a manner that will result in the DC motor stopping short of said requested target position of said rotor; after said DC motor has reached said deceleration rotor position and said deceleration is complete, determining whether said requested move is a first move type; if said requested move is a first move type, causing said DC motor to move toward said requested target position of said rotor at a first velocity; if said requested move is a second move type, causing said DC motor to move toward said requested target position of said rotor at a second velocity, said second velocity being greater than said first velocity; and wherein said DC motor is caused to move based on a periodically determined desired motor position, the method further comprising: after said DC motor has reached said deceleration rotor position and said deceleration is complete determining whether the current desired position is greater than or equal to said requested target position of said rotor; if the current desired position is greater than or equal to said requested target position of said rotor, declaring the DC motor to be in a hold state; and when said DC motor is in said hold state, declaring said requested move to be completed after a first settling time has expired if said requested move is a first move type and declaring said requested move to be completed after a second settling time has expired if said requested move is second move type, said second settling time being shorter than said first settling time.