Two Questions for Gecko

[amplexus]

Hi marcus,
I have a question about midband compensation and the sine cosine scheme you use. Somewhere Mariss posted an outline of generating sine cosine values using pwm. I am interested in what he said reguarding phase shifting for midband resonance compensation and I can't seem to find the post again.

I am playing around with a Cypress PSoc that uses a pair of dacs and a look up table to generate sine cosine values. A neat little chip, if you know of any problems with it I would love to hear them. I will still buy gecko's for the machine my son and I are building but half the fun is in the design and I didn't want to just recreate the coolrunner cpld design. The biggest downside to the cypress chip is that it dosn't support verilog. Cypress has several nice step motor ap notes along with all the code.
Also can you define pwm as it relates to your drives? I see the term used frequently and when you read more closely it is nothing but a noisy chopper.

Finally, Mariss and others hace posted a wealth of stepper and servo formulas test methods etc, what is the chance in gathering them all into a single post and making it sticky? I love cnc zone but their search features suck, half the time I end up reading a hundred posts to find the one I was looking for.
Amplexus