we have some problem with the velocity and torque of the simple FOC we have a SimpleFOC v1 shield when we try to send a positive velocity or positive torque this aparently moves good, however if we try to send one signal that be higher than 20 rad/s or 10 volts, we get stucked, we don’t know what is the problem, we think that the problem is because of sotware, we don’t discard a hardware problem and we used the default libraries to check the torque and velocty.
I think you are hitting the default motor.velocity_limit which is 20rad/s.
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