I’m using “MotionControlType::velocity_openloop;”. The script is the openloopvelocity example. it might be polar pairs. currently ive put the polar pairs on 15, because i counted 30 magnets.
the motor has internal hall sensors. A suggestion i got was that the sensor have a too low resolution for the motor to work smootly. I dont think the openloop uses the hall sensors though.
is it possible to use the utility example code “find_polar_pairs_number” using a hall sensor? The only options i see for a magnetic sensor or an encoder.
Edit: found the problem 
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I needed to adjust the motor voltage limiter and not give a phase resistance value. ive put it at 3 volt now and that seems to smooth things out. its seems that if i go higher the PSU and the bldc motor starts to make a noise which i think migh be a coil whine. For the phase resistance value. i measured 0.4 ohm between the AB, BC and AC values which seems correct but using this causes the vibrations.
The explenation of the voltage limiter uses the formula current = resistance * voltage. I’m pretty sure the voltage is in my case 4 as i put the limiter at 4 volt but what is the resistance and current? is the resistance the phase resistance trough the A B C wires?
another question that i have is what limiter is safer to use Voltage or Current?