Driving, needs a bit more machine work to get the spinner done, but not entering UK champs anyway due to other issues... oh well.

I'm currently busy with a vaguely related project - custom field oriented sensored brushless controller got it mostly working on a development board to the point that the little brushless I'm using for testing is spinning away happily! Field oriented control code however isn't totally sorted, and more to the point the development board will only handle like 6A while the actual controllers need closer to 200A - we shall see how this goes.

Hopefully it'll mean no more controller worries though!