Yes, the microphone of the camera was quite close and seems to have amplified the sound a bit, but I do agree it could be smoother. I took it apart again and indeed it seemed that the top spline hub was off center for some reason. I am trying to figure out what caused it , it was not much, less than a tenth of a millimeter and it could be just the springs of the connector, but I will do some very accurate measuring before I put it together for it's final assembly (I did not "locktied" it yet).
In the meanwhile I was toying and tinkering a little with my IGBT and I have already put a pwm signal on the motor from my own micro controller.. (the components for the cougar-controller have not arrived yet (I can be so impatient sometimes
)). That seemed much easier as I had expected (I used the controller that had been in one of my old (she RIP's) robots which was already programmed for a smooth startup). I am beginning to like this IGBT version, that I think I got as a bargain, quite a lot, it seems so easy to implement, although I did not do any serious measurements to be honest. Yet, while drawing less than 50 amps atm there seems no saturation temperature issue whatsoever. I used a capacitor from the old forklift controller, but I still need to do my maths there.
There were no sensors on the robot-controller so after startup I could not turn it off in a programmed way, then it seemed when I disconnected it, it left the gate in a set state. Hence the motor started running at full speed (well on 24V) and I had to connect the gate to mass to reset it and turn the motor off. I had not expected that, but I guess there's either some capacitor at the gate as well, or the IGBT maybe just acts as a flip-flop which afterwards seems a quite logical explanation too, since the functions it's designed for (DC/AC motor controller and emergency power supply) only needs two states.
I don't have too much experience with IGBT's .. (yet)
but I like them.