Whilst I didn't follow all of your explaination I did pick up on 28,000 rpm and had the impression that's some kind of upper limit you might aim for.
So, whilst still not understanding, I'm guessing that if using the Mega the crystal would be better than the resonator. But the ESP32 is much faster per core and has two...
This is the article on torque drop off. Clever chap.
To quote Howard from On-Step :
It is inexact to the extreme but the limit formula is there to keep folks from mistakenly depending on high microstep "reduction" when they should be adding real gear/belt reduction.
Ant?
