Ratings Label Characterization and Auto-tuning

What? No motor data from the motor manufacturer? I feel you pain! If we can read the ratings label and wire the feedback correctly, now we can characterize the other motor parameters with minimal ratings like rated speed, torque, and Kt (Torque Constant). But that's not all... this thing can Autotune our motor for us. How cool is that! P.S. Seems to work for most motors. Nice job software guys! Just be careful of in system tuning, resonances, and large inertia mismatch.