I present you with the motors I'm using for my milling machine, and a video I took for my quadrature encoder project of the servo drive controlling the "steps" of one of those motors, and the accelerating and decelerating it.

I'd also like to add a to do list:

• Add serial interface for configuring PID parameters without recompiling and uploading the firmware.
• Create a GUI for adjusting said parameters
• Change 100 uF capacitor footprint
• Change current limiting approach (I think it would be better to utilize the MOSFET driver's current limiting function instead of the uC for this task).
• Add more indicator LEDs
• Desgin a case