Myxa with frequent RPM zero crossings

Hi folks,

We are developing an underwater drone using the T500 and T200 thrusters from BlueRobotics. Some of the thrusters will need to operate at low RPMs, frequently changing direction. That leads me to two questions:

  1. Does the Myxa always run the spin-up routine when changing direction?
  2. If so, do you think its feasible to reduce the time of the spin-up to less than 100ms?
  1. Yes.
  2. Yes! This is documented here: Drive - Telega v1.0 Reference Manual