-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!