Motor controller with accurate current measurement

A motor control system for reducing or eliminating current ripple error during current sampling comprises a motor having a plurality of phase coils, a motor driver circuit having a plurality of switches coupled to the plurality of phase coils to drive current through the phase coils, and a motor controller circuit configured to provide a plurality of output control signals coupled to the plurality of switches. A phase circuit modifies a first output control signal to produce a modified control signal that is out of phase with a second output control signal. A current measuring circuit is included to measure a current through the motor by measuring the current during a first time period when the first output control signal is active and measuring the current during a second time period when the modified control signal is active.