I describe how I designed and built a spincoater, and how you can use a similar motor control system in your own projects. Firmware with I2C and Arduino library https://www.bluerobotics.com/forums/topic/blueesc-firmware-compatible-with-afro-slim-20a-esc/ Compile instructions http://lunarflow.com/index.php?topic=7.0 Flash tool to download firmware (and other helpful features) http://lazyzero.de/en/modellbau/kkmulticopterflashtool Arduino code and assembly for motor ESC https://drive.google.com/drive/folders/0B4YXWiqYWB99UFNheWt1Nk5pX1k?resourcekey=0-Kx0efz61YNwD96beDcuIjA&usp=sharing https://en.wikipedia.org/wiki/Spin_coating