I cleaned up the motor code and added 2 new ramping types. The new arc-tan ramping is the default style now. It is much smoother that the old sinus shaped ramping. The used ramping can simply be selected in the code’s main file in line 133 (e.g. for going back to sinus shaped ramping). I also added limit-switch checks to the motor phases (every 150ms). And finally, the motor phase is no longer (fully) blocking. I added a check for SELECT key presses to the it. So one is now able to stop the engine even during motor phases.
The shields are ordered and currently in production. If everything goes well, I will be able to send them out to you very soon. This is how hey will look like: