I had an intention to use amazing PowerPak housings for transistors. And guess what? I managed to fail that twice by assigning things to a wrong pins. Firstly, I messed with a gate and after milling second version I realized that drain and source were swapped. So... I soldered TO-220 instead. Here is a picture of board's better years:
PCB at the bottom would serve as a measurement tool for testing bench, it has 12bit DAC and instrumental amplifier with adjustable gain to measure torque. More of that in next updates as there is some problems with that controller. It works, overall, but "rings" like crazy. Here is a photo with re-soldered FETs and voltage on transistor's gates:
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