That's very well done. I know how much work went into it. I really hope it catches on and gets used by many people. It's so much better than anything you can buy. Literally life changing.
I have built chairs mechanically different for my needs that are using the same motor controller family as Lenny did on this one for his daughter along with the ingenious code he wrote.
Without the software Lenny has written, they are nearly hopeless for real use by those who need it. There's nothing available for purchase even remotely close to being as capable, especially when combined with large capacity LiFePo4 battery packs. Again, literally life changing.
I sincerely hope what Lenny has built here will catch on and end up making it to more of those people like me who have had drastic quality of life improvements from his hard work with zero compensation asked for in return.