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Cyrus, you can also check eBay for some really cheap clones (avr isp programmer). Compatibility with atmel software might be issue though. I wouldn't bother building one myself when cheapest ones are less than 10$ shipped.
High motor amps and slowly turning motor is bad for commutator too.
I still haven't been able to succesfully compile code for controller. Not original or modified software. I'm bad with atmel studio or whatever it is. WinAVR and command line only seems much easier, but still no success. Hehehe. I'll keep trying. I also noticed my motor windings get a bit hotter when it is being run at 8kHz. I never got above +70C before, now I've hit that multiple times.
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