After the initial leg jumping with the prototype brushless actuator for SMMB, I spent some time actually tuning the control loops and making the firmware not incredibly convoluted to get started.  I also acquired a high speed camera for analysis.

So, here is a brief update of the final jump before I seem to have toasted one of my DRV8323 motor drivers.  It jumped for about 400ms of hang time, running at about half of the maximum current the system should be capable of pulling.