Add a parameter start-acc (0-100%) to configure maximum acceleration at low speed. Default 20%.
Set a minimum commanded PWM (half of the start-pwm parameter) to avoid motor desync when braking hard.
Add a ~500ns delay before grounding phases when braking, in case a phase go from +Vcc to GND directly without passing through the floating state. This avoids potential shorts due to MOSFETs commutation time.
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