[MPaulHolmes]

I've never understood space vector modulation until today. I spent 3:50am until 3pm reading up on it and writing all the details out with pretty graphs, so I never again forget how it works. I was worried about that part. I haven't looked at any sample code. Every stinking detail I finally understand. I am feeling really confident that the code will be very debuggable. I know for sure large parts of it are correct. I am feeling really hopeful. Before, I was thinking that there would be a lot of uncertainty, making debugging difficult.

Edit: I mean I understand the code, and the math details, just not the details about how the motor actually works. Haha.