PMC is an open project that aims to build the quality permanent magnet synchronous machine (PMSM) controller for use in a variety of scopes like RC or electric transport.
...It uses a DC motor controlled by an h-bridge and an optical quadrature encoder for feedback.
It uses timers, counters, and interrupts to generate PWM to control the speed of the motor, encoder pulse counting, and control loop updates.
This project provides an AVR-based, USB accessible, single-axis motion controller that can fit into an USB-connector completely and therefore is probably the worlds smallest stepper motor controller. Here both, hardware schematics and all software components are provided.
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