well i thought i better do the final update lol, i put this aside for some other projects but finally got it finished as im going to need it for the feathertouch...
I had to make some modifications with cooling by adding a 40mm delta fan and exhaust ventilation and also increasing heatsink size for the driver to stop it overheating. Now i can hold the motor in full locked mode indefinitely without overheating the driver
http://www.epicphotos.com.au/MVI_7852.m4v