DC servo closed loop control CNC 3 Axis Controller initial testing P only

Open Source, Closed Loop DC Motor CNC and 3xServo Controller, with Optical Encoders.
First test of 10mm/min feed rate for 2mm pitch ACME machine with 14Hz PWM and P only control with 300Hz bandwidth. Maximum lag from SP was under 0.2mm during whole test, PID is not yet tuned. P control only.
Entire device is programmed under single dsPIC.
Auto-tuning or Self tuning implementation under way. Design will soon be released on GitHub for further community development, under GPL3.0 License.
The goal of the project is to give hobby CNC builders an alternative that allows making cheap, fast, precise and easy to build CNC machines without using stepper motors or special motor controllers.