I have very little documentation for this (old and abandoned (July 2022!!)) project, but here are some pictures and some description that I can remember.
Here’s a photo of the mainboard, without the TO-220B MOSFETS. The micro controller is an rp2040 on the back side. It uses a DRV8830 mosfet driver, which is specialized for motor controller applications.
Here’s a video of it “working”:
The firmware to make this work was very similar to what I wrote for my spark max reverse engineering project, but in c++ using the pi pico sdk, which remains one of my favorite platforms to work with.