The latest version in my GoogleCode SVN repository can be found here (revision r59).
Changes in this firmware are;
- CURRENT_THRESHOLD has been increased from 150 to 300
- Motor current monitoring interrupt code now changes the Sense LEDs based on the ADC
- The command buffer has been modified to accept 'b' as a command (Used to start both motors at a specified speed and direction)
- The speed command is now 16 bits. It is decoded into the OCR1 register directly.
- The UART reply from a command now passes back both Sense current readings from the ADC.