Hi all,

We've uploaded a significantly improved version of the Mechaduino firmware. It is available here (master branch of our repo). Older versions of the firmware are still available here and here.

Improvements include:

-Menus now work!
-Faster control loop (running 6kHz by default)
-Ability to adjust PID gains from menu (does not use non-volatile memory yet, so you do have to update firmware for permanent changes, but this makes tuning a lot easier).
-Generate sine/commutation table on startup, this makes it easy to experiment with different commutation profiles
-Lots of documentation in code
-Much cleaner code ( no more "magic" numbers, etc)

We are almost ready to release a Mechaduino Manual that covers hardware, firmware, and example code. Please stay tuned!
-Joe