Homemade sensored ESC

/*
 * Electronoobs sensored brushed motor electronic speed controller code
 * Connect the sensors to pins 8, 9 and 10
 * High gates to pins 7, 5 and 3
 * Low gates to 6, 4 and 2 
 * More on http://www.electronoobs.com/eng_circuitos_tut19.php
 */
 
int pot = A3;
int SensorA = 8;
int SensorB = 9;
int SensorC = 10;


int fase = 1;
int Delay=4000;
unsigned long previousMillis = 0; 
unsigned long currentMillis = 0;

void setup() {
  pinMode(pot,INPUT);
  pinMode(SensorA,INPUT);
  pinMode(SensorB,INPUT);
  pinMode(SensorC,INPUT);
   
  DDRD  |= B11111100;  // Sets D2, D3, D4, D5, D6 and D7 as OUTPUT 
  PORTD &= B00000011;  // D2-D7 LOW
  PCICR |= (1 << PCIE0);    //enable PCMSK0 scan                                                 
  PCMSK0 |= (1 << PCINT0);  //Set pin D8 trigger an interrupt on state change.   A
  PCMSK0 |= (1 << PCINT1);  //Set pin D9 trigger an interrupt on state change.   B
  PCMSK0 |= (1 < PCINT2);  //Set pin D10 trigger an interrupt on state change.      C     
  
  currentMillis = micros();
}


void loop() {
  currentMillis = micros();
  if(currentMillis - previousMillis >= Delay){
  
    previousMillis += Delay;   
    
    switch(fase){

      //Phase1 A-B
      	case 1:
        PORTD = B10010000;  //  Pin 7 and 4 to HIGH
        break;       
    
        //Phase2 C-B
        case 2:
        PORTD = B00011000;  //  Pin 3 and 4 to HIGH
        break;
    
        //Phase3 C-A
        case 3:
        PORTD = B01001000;  //  Pin 3 and 6 to HIGH
        break;
     
        //Phase4 B-A
        case 4:
        PORTD = B01100000;  //  Pin 5 and 6 to HIGH
        break;
    
        //Phase5 B-C
        case 5:
        PORTD = B00100100;  //  Pin 5 and 2 to HIGH
        break;
    
        //Phase6 A-C
        case 6:
        PORTD = B10000100;  //  Pin 7 and 2 to HIGH
        break;
    }//end of switch       
  }//Case of if millis  
  
  Delay=map(analogRead(pot),0,1024,1,4000); //we obtain the delay speed using the potentiometer                 
}//Void end




ISR(PCINT0_vect){  
  if(  (PINB & B00000101) && fase == 6  ){   
    fase = 1;    
  }

  if(  (PINB & B00000100) && fase == 1 ){   
    fase = 2;    
  }

  if(  (PINB & B00000110) && fase == 2 ){   
    fase = 3;    
  }

  if(  (PINB & B00000010) && fase == 3 ){   
    fase = 4;    
  }

  if(  (PINB & B00000011) && fase == 4 ){   
    fase = 5;    
  }

  if(  (PINB & B00000001) && fase == 5 ){   
    fase = 6;    
  }
}