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help on using eQEP with TI launchpad F28069M

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HI

 I am using TI F28069M for driving PMSM. I construct algorithm using eQEP that feedback from encoder. There are some issues like how to select index offset, calibrate for speed and position. I am able to run the motor but it is running at constant speed inspite of changing desired speed. can anybody help me

Thanks


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