Hey @CREGIS21,
Thanks for the heads-up, I’ve created a github issue for this problem and I hope to remove it for the next releasse 
https://github.com/simplefoc/Arduino-FOC/issues/111#issue-982091196
BTW, this might have something to do with the velocity not been calculated well for the first time.
https://community.simplefoc.com/t/weird-jump-after-initialisation/1114/5