DESCRIPTION:
I'm building a high speed linear slide for video applications. I hope to eventually add a pan/tilt motorized head, and eventually focus/zoom as well, but that's a ways off. For now, trying to get reliable position control and high power capacity.

The first part is in FOC (Field oriented control), using current control (the faster part), and velocity control (the slower part). A little later, something started getting buggy before I was able to shoot the high speed position control portion, and I couldn't get any sort of stable position control loop.