Ok guys, I finally got this thing working. It was quite a undertaking for me, I spent alot of time but learned much in return. Basically In the previous attempts which are documented in the previous post, I had poor hardware design, and faulty firmware. It took me at least three atempts at designing a good circuitboard. After spending much time learning how to use the Eagle PCB software, and implementing the techniques of the texas instruments paper that Ron Sloan gave me a link to (once again thank you Ron) I finally got a board with no random weirdness. That eliminated alot of bugs. I was then able to focus on the firmware for the last bug, the glitch in the phase change routine, I will not bore with the details of the bad firmware other than to say it came down to one bad line of code that I finally isolated, found, changed, and all has been good.
Thanks again everyone. Here is a link to the youtube video.....
http://www.youtube.com/watch?v=YDyTw...ature=youtu.be