# Fighting the zero\_speed jitter

**URL:** https://community.simplefoc.com/t/fighting-the-zero-speed-jitter/8144
**Category:** Uncategorized
**Tags:** hall\_sensors
**Created:** [May 20, 2026, 12:18pm UTC](https://community.simplefoc.com/t/fighting-the-zero-speed-jitter/8144 "2026-05-20T12:18:22Z")
**Posts on this page:** 3
**Page:** 1

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### Author: ![o\_lampe](https://community.simplefoc.com/letter_avatar_proxy/v4/letter/o/85e7bf/32.png) [@o\_lampe](https://community.simplefoc.com/u/o_lampe)
#### Post date: [May 20, 2026, 12:18pm UTC](https://community.simplefoc.com/t/fighting-the-zero-speed-jitter/8144/1 "2026-05-20T12:18:22Z")

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I wrote a little routine to stop my BLDC/Hallsensor/SmoothingSensor setup to stop from jittering when velocity = 0.

It worked so\_so and needs PID fine tuning, but what I found more interesting is the difference between Reverse and Forward velocity.

I don’t think it’s related to my anti\_jitter

 ![jitterStop](https://community.simplefoc.com/uploads/default/original/2X/8/8708a6db94aae68cd78f759fcecccc301660e2ee.jpeg)

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<div class="post-metadata">

### Author: ![o\_lampe](https://community.simplefoc.com/letter_avatar_proxy/v4/letter/o/85e7bf/32.png) [@o\_lampe](https://community.simplefoc.com/u/o_lampe)
#### Post date: [May 20, 2026, 12:48pm UTC](https://community.simplefoc.com/t/fighting-the-zero-speed-jitter/8144/2 "2026-05-20T12:48:23Z")

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Gave it another shot without anti\_jitter. It now seems to be related to _motor.monitor\_downsample ?_

 ![downsampleBug](https://community.simplefoc.com/uploads/default/original/2X/b/b1ecb965432edf0895502e963cfbab621aae543b.jpeg)

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<div class="post-metadata">

### Author: ![o\_lampe](https://community.simplefoc.com/letter_avatar_proxy/v4/letter/o/85e7bf/32.png) [@o\_lampe](https://community.simplefoc.com/u/o_lampe)
#### Post date: [May 21, 2026, 10:50am UTC](https://community.simplefoc.com/t/fighting-the-zero-speed-jitter/8144/3 "2026-05-21T10:50:04Z")

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Re: zero\_speed jitter.

I must admit, I was chasing my own tail…part of my code came from ChatGPT, because I needed phase resistance and kV. And the sample code I got had the numbers in wrong order. 🙃

So, I tried to tune a motor with kV=1.1 and R= 273…