I've choosen FreeRTOS Real Time OS as base for this project. I think it will do good with it task-management and priorities. Anyone who has any comments about this?

I've also managed to figure out the keypad and how the power button works. I have also reversed engineered a lot of pin's that goes to the motor controllers. I havn't looked at any ADC-ports yet. I dont know how battery charging works neither.

Sorry for dark image, but my phone camera doesn't work very well. It is debug of gpio on the device. This demo runs FreeRTOS.

//Damme