This week, I worked on making use of our now useful ADC sampling. This gives us current information for each phase, sampled when the low side gate is on in phase with the PWM frequency, which avoids aliasing effects and makes sure that the shunt amplifier output is valid. So far, I have enabled the current feedback for the D Q control loop, so when you command a certain current vector, the controller actually creates that in the motor. I also added in some basic over current error detection, where if it ever has a sample that is over 50A (just a rough safety value for now) it will immediately disable the gate driver.