Based on the experience and ideas acquired during the prototype development, a final vision of the project and its functionalities has been formed. Below are the key challenges:

1. Quiet yet Robust Driver: Designed to deliver core motor control functionalities unhindered by hardware constraints. This driver is intended to be an off-the-shelf solution to minimize the computational load on the microcontroller and mitigate risks, leveraging the inherent safety features of pre-built solutions.
2. Support for Standard Interfaces: Incorporates USB for computer connectivity, CAN-Bus for communication within industrial systems, Stepstick for compatibility with legacy systems such as 3D printers, and UART and I2C for interactions in embedded environments.
3. High-Speed Microcontroller: Equipped to handle concurrent tasks such as position calculations, real-time encoder-based position monitoring, processing of external commands from various interfaces, and other user-defined tasks.
4. Compatibility with Expansion Boards: Ensures the provision to integrate additional boards to accommodate any functionalities not originally addressed.
5. Efficient Power Delivery: Guarantees compatibility with widely-used power sources or power banks.
6. Optimal Protection: Shields against potential hazards like electrostatic discharges, current overflows, voltage spikes, and more.
7. Integrated IMU: Facilitates the detection and compensation of resonances or vibrations while continuously tracking the current position.
8. Compact Design: Crafted to seamlessly integrate into devices where space is a constraint.
9. Cost-Effective and Modular Structure: Tailored for swift customization based on specific requirements.

There are many other smaller nuances that can be enumerated, but more on that later! You can also read the foundational principles to get a clearer picture.