3D Printer 3 Phase Motor Controller

I have a large amount of spare 3 phase motors after taking apart a few robots that were given to me and no way of diving them. I had a few ideas about how to drive them and have been playing with the different ideas to see what’s the best way for control and performance.
This motor driver is one of the ideas that I have had to drive the motors as a standard 3D printer motor controller. The Controller is a DRV11873P, it uses PWM to control the speed and digital pin to change direction for the motor. The PWM input is on the STEP input of the controller and the direction is the DIR input.

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