# Angle control and Torque control

**URL:** https://community.simplefoc.com/t/angle-control-and-torque-control/7314
**Category:** community projects
**Tags:** knob, bldc, esp32, tmag5273
**Created:** [June 14, 2025, 4:28am UTC](https://community.simplefoc.com/t/angle-control-and-torque-control/7314 "2025-06-14T04:28:02Z")
**Posts on this page:** 1
**Page:** 1

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### Author: ![Hiren](https://community.simplefoc.com/letter_avatar_proxy/v4/letter/h/ac91a4/32.png) [@Hiren](https://community.simplefoc.com/u/Hiren)
#### Post date: [June 14, 2025, 4:28am UTC](https://community.simplefoc.com/t/angle-control-and-torque-control/7314/1 "2025-06-14T04:28:02Z")

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Hi all,

I am working on this project where I am using both Torque control and Angle control simultaneously. I want torque control to have haptic feedback while manual rotation and precise position using angle control when the remote command comes. In both cases, I want the same index for both algorithms so they stay in sync. I tried implementing it and as far it works fine. There are still some improvements needed regarding tuning and all. I see motor jerks when the motor reaches the target position given by remote command and switches back to manual control. I don’t know how to handle this. Please help me out. Also, when I try to go beyond end points in manual control, the motor sometimes springs back and overshoots the end point. I want the motor to stop at the end point when I release it beyond end point.