Back-drive of motor based on position data

A method comprising:

• sending an amount of electrical current to a motor of a device to cause the motor to move to a first target position at a first time during a time interval;
• determining a first measured position of the motor at the first time;
• determining, at a second time during the time interval, a second target position of the motor and a second measured position of the motor;
• determining an increase to a position difference between the first target position and the second target position based at least in part on a first difference between the first target position and the first measured position and a second difference between the second target position and the second measured position;
• and
• reducing the amount of electrical current based at least in part on the increase to the position difference.

A motor controller comprising:

• one or more processors;
• and
• one or more memory storing instructions that, upon execution by the one or more processors, configure the motor controller to:
• cause an amount of electrical current to be sent to a motor such that the motor moves to or remains at a first position;
• determine a second position of the motor;
• determine a position difference between the first position and the second position;
• monitor the position difference over a time interval;
• cause a reduction to the amount of electrical current based at least in part on the monitoring;
• determine, after the reduction to the amount of electrical current, that a measured position of the motor remains constant during a subsequent time interval;
• and
• cause an increase to the amount of electrical current based at least in part on the measured position remaining constant.