One other strangeness I just found with my own 7i39 setup.
I couldn't use any duty-cycle greater than 0.6. It turned out that
this was because I was running a 46kHz PWM with the default 5000nS
deadtime.
The actual deadtime for the 7i39 is 320nS.

I was getting very wierd behaviour, the motor would be nice and stiff,
then click to a position, and not be able to recover.

-- 
atp
If you can't fix it, you don't own it.
http://www.ifixit.com/Manifesto

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