Still working the servo issues

I've been running into some difficulty with developing the servo firmware, which has slowed my progress considerably.  At first, the device worked perfectly.  I would work on developing a new aspect of the software and upload it to the microcontroller with no problems.  Then, after about the tenth upload or so, the motor stopped and the voltage regulator became extremely hot.  Replacing the voltage regulator did not fix the problem and, after lengthy troubleshooting, I decided to completely start over with a newly etched PCB.  This new circuit worked well for a while, but then also exhibited the same malfunction.  Because I lack the testing equipment and expertise necessary to narrow down the cause of the problem, I've decided to refocus my efforts on creating a modified, larger-scale version of this circuit for us in the firmware development and then reapproach the circuit problems from a fresh perspective. 

In terms of firmware development, I've thus far been able to figure out how to manipulate the control signals sent to the H-bridge to move the motor forwards and backwards and I've also figured out how to pulse width modulate selected signals to vary the motor speed.  Finally, I've been able to tap into the hall effect sensors and capture some raw feedback.  The data appears to be consistent with what you would expect to get from to sensors at 90 degrees to one another (i.e. similar signals 90 degrees out of phase), but the data certainly doesn't make a sine wave.  I have to go now, but I'll post more later.