Warning : Example code spins motor up to high rpm

[VeryOldFrank]

In the example, the section that moves the motor writes
0x1000 rpm per second max acceleration
0x1000 rpm per second max acceleration
0x1000 rpm target motor speed
The comment each time says that this is 1000rpm.
Problem: This is misleading and potentially somewhat dangerous
What happens is that 1000 Hex is written and the motor is spun up to 4096rpm (decimal).
It is also accelerating and decelerating at 4096rpm per second.
I would recommend that
a) Code: for an initial proof of motor movement, a much lower speed and acceleration would be chosen. So change 0x1000 to 0x20 everywhere and change the comment to indicate that this is 81rpm in decimal.
b) Environment: Make sure everything is safe - your motor's axis should be physically disconnected from external machinery.