Chainsaw Pete

This 6axis nachi robot, will be converted into a Foam cutting robotic Chainsaw.

It has a fully working control. but unfortunately the controller is only Point2Point. there is no indpendant axis control nor Cartesian control(XYZ).

so I have to design a controller that will give us low level control.

I had to make a proof of concept that it could be done.
so I made a simple servo using a Atmel mega32.

the encoders on the machine are absolute 16bit grey code, encoders.
(inverted too at that).

I also can reuse the 3phase inverters from the original control.
luck would have it, the inverters have analog in that directly effect the current given to the motor(hence the velocity).