Hey guys,
That’s great to hear, the version v0.3 is in the dev branch and I’ll do some minor modifications and release version v1 which will be stackable.
So if you’re interested you can test it as well.
But I am not going to be selling this board as a product 
have you tried using the current sensing?
The nature of the problem is the same, if you use ordrive at low velocity and have a bit of choppy signal, then you either have a too low sensor resolution or your pid parameters need a bit of tuning.
And in the case of the powershield it is the hardware limitation of the driver, and it introduces a lot of inherent problems.
So the max pwm frequency they advertise is 25khz. But in the BLDC mode with three of them, for a decent result you’d need to go under 5kHz.