They’ve taken the field-oriented control algorithm and encapsulated it into a compact Arduino library, added a host of examples, and minted a stackable BLDC motor control shield to boot.

It is amazing how many Arduino programmes for decoding rotary encoders start with something like: "I looked at all the available rotary encoder sketches ...

If you are [Tech Build] you go all MacGyver on an old printer and pull out a stepper motor. How does a stepper motor turn into an encoder? Well, that’s the MacGyver part.