re: clutchless.
well, hmm, does measuring the motor voltage give you an indication of rpm? Or does it need an external sensor?
Do you want to ditch the current control stuff and have the throttle request an rpm, and the controller tries to comply within the current limit.
It would be a
big step in a different direction at this point, for the sake of clutchless shifting and could be a can-o-worms. might want to wait for 2(3,4).0 for that. But if you add in a vehicle speed sensor , the controller can do the matching for you. And regen rears it's head as a mechanism for slowing down the motor when you lift up the pedal. But speed sensor also means you can track energy used/distance travelled type numbers. Again, probably not right now though, just thinking about maximizing that atmega
