Hi PaulZC. Can you find anything that prohibits to switch the motor polarity? TS-Russell posted a good picture of the 6 PWM control of the 3-Phase motor commutation: Gimbal 12V motor with encoder AS5048A? - #39 by B . Please take a look at the picture. Do you see something that prohibits to switch the polarity (Ground and V)?
I am sorry. You have not answered my other questions. I would like to repeat them here:
1. You wrote: “Then you have to consider the Ground (0V) voltage for both. If the ATP is “on top” of the motor drivers, its ground voltage will be “on top” of the voltage taken by the motor drivers.” Why do you suppose that the ATP is “on top”?
2. You wrote: “…If you then try to connect the ATP Ground to the motor driver Ground, which you will need to do to get the PWM to work, you will be short circuiting the power to the motor drivers. Try it if you want to.” Why should one connect the ATP Ground to the motor driver Ground, but not to the motor-driver positive terminal? Why can the motor-drivers common Ground (motor-drivers connected in parallel to each other) not be directly connected to the battery ground? In this case, the microcontroller board would act as a resistor connected in series, wouldn’t it? Thank you.