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DRV8830: Running motor at 6V

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Part Number: DRV8830

I'm trying to get some clarification on the VSET DAC. According to the datasheet, the max value of 0x3F yields a DAC voltage of 5.06V. Is this the maximum output voltage to the motor or am I misunderstanding how this value is used? My target motor has a rated voltage of 6V and this is also my available VCC. My voltage will remain constant (i.e. no discharging battery) and I don't need any PWM--just VCC to the motor. What VSET value do I use to achieve this?


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