3-phase motor controller with integrated position sensor Firmware here: https://os.mbed.com/users/benkatz/code/Hobbyking_Cheetah_Compact/
Firmware for new versions with DRV8323: https://os.mbed.com/users/benkatz/code/HKC_MiniCheetah/
Documentation for using the motor drive: https://docs.google.com/document/d/1dzNVzblz6mqB3eZVEMyi2MtSngALHdgpTaDJIW_BpS4/edit?usp=sharing
New non-mbed firmware: https://github.com/bgkatz/motorcontrol