I was surprised it was faster, from what I remember to avoid floating point operations several large values had to be multiplied together then divided which req

I was surprised it was faster, from what I remember to avoid floating point operations several large values had to be multiplied together then divided which required using a long long to avoid overflow. The division operation was quite slow. Thinking back I'm not 100% sure it was in the inner control loop but at the very least it was required to generate the new motor position. Anyway a bit toggle tells all, and if you're making speed optimizations you should be checking that things actually got faster.