with PWM_PERIOD = 20000000 isolator Zero to minimum at full reverse (-55 on "motion.spindle-speed-out-rps") the "offset.pwmgen.out" pin is at 0, and your PWM is at ~0%, or~1.1v output -10.2v at 0 speed (0 on "motion.spindle-speed-out-rps") the "offset.pwmgen.out" pin is at 55, and your PWM is at ~50% or~13.8v output +0.65v at full forward(55 on "motion.spindle-speed-out-rps") the "offset.pwmgen.out" pin is at 110, and your PWM is at ~100% or~23.9v output 9.7v
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