### Author:  [@literally-anything](https://community.simplefoc.com/u/literally-anything)
#### Post date: [July 31, 2023, 7:59pm UTC](https://community.simplefoc.com/t/motor-keeps-spinning-in-whatever-direction-you-spin-it-in/3675/1 "2023-07-31T19:59:52Z")
Hello,
I’ve been trying to get this library working on a teensy 4.1 with a SimpleFOC Mini and an AS5147U magnetic sensor, but i’ve been experiencing a few issues:
At first the motor was making a high pitch squealing sound; the only thing that fixed this was manually setting the PWM frequency of each pin with `analogWriteFrequency` to 25000 like in [src/drivers/hardware\_specific/teensy/teensy\_mcu.h](https://github.com/simplefoc/Arduino-FOC/blob/05954cb9691534dd478407505d810a68f1673a5e/src/drivers/hardware_specific/teensy/teensy_mcu.h).
When I tried to use torque control, the motor would do nothing at all no matter what value I passed to `move()`. If I manually moved the motor, it would keep moving in that direction (the torque can be at 0). While the motor was moving, I could change its direction by setting the torque, but if I stopped it, I had to manually restart it. [video](https://imgur.com/GcpXoJj)
This is my code:
```cpp
#include
// init BLDC motor
BLDCMotor motor = BLDCMotor(7, 5.6, 160);
// init driver
BLDCDriver3PWM driver = BLDCDriver3PWM(3, 4, 5, 2);
// init encoder
MagneticSensorSPI sensor = MagneticSensorSPI(10, 14, 0x3FFF);
// target variable
float target = 0;
// commander interface
Commander command = Commander(Serial);
void onTarget(char* cmd){ command.scalar(& target, cmd); }
void setup() {
delay(2000);
Serial.begin(115200);
SimpleFOCDebug::enable(&Serial);
analogWriteFrequency(3, 25000);
analogWriteFrequency(4, 25000);
analogWriteFrequency(5, 25000);
sensor.clock_speed = 10000000;
sensor.init();
// link the motor to the sensor
motor.linkSensor(&sensor);
// power supply voltage
// default 12V
driver.voltage_power_supply = 12;
driver.pwm_frequency = 25000;
driver.init();
// link the motor to the driver
motor.linkDriver(&driver);
// set control loop to be used
motor.controller = MotionControlType::torque;
//default voltage_power_supply
motor.voltage_limit = 2;
// initialize motor
motor.init();
// align encoder and start FOC
motor.initFOC();
// add target command T
command.add('T', onTarget, "target");
motor.useMonitoring(Serial);
motor.monitor_variables = _MON_TARGET | _MON_VEL | _MON_ANGLE;
Serial.println("Motor ready.");
_delay(5000);
}
void loop() {
motor.monitor();
// iterative FOC function
motor.loopFOC();
// function calculating the outer position loop and setting the target position
motor.move(target);
// user communication
command.run();
}
```
I also tried `velocity_openloop`, which worked well, and `velocity`, which had similar issues as `torque`.
---
### Author:  [@dekutree64](https://community.simplefoc.com/u/dekutree64)
#### Post date: [July 31, 2023, 8:34pm UTC](https://community.simplefoc.com/t/motor-keeps-spinning-in-whatever-direction-you-spin-it-in/3675/2 "2023-07-31T20:34:07Z")
Most likely the kv passed to the BLDCMotor constructor needs tuning. Add a command to change motor.KV\_rating and fiddle it up and down until it acts right. This is using voltage-based current limiting to apply a constant torque regardless of speed, so an un-loaded motor should accelerate to full speed even if the target is fairly small. But target 0 should still stop moving.
---
### Author:  [@David\_Gonzalez](https://community.simplefoc.com/u/David_Gonzalez)
#### Post date: [July 31, 2023, 11:11pm UTC](https://community.simplefoc.com/t/motor-keeps-spinning-in-whatever-direction-you-spin-it-in/3675/3 "2023-07-31T23:11:09Z")
Are you sure the sensor is working as expected? you could print the sensor value without any of the motor and driver code to verify its functionality.
---
### Author:  [@literally-anything](https://community.simplefoc.com/u/literally-anything)
#### Post date: [August 1, 2023, 2:51am UTC](https://community.simplefoc.com/t/motor-keeps-spinning-in-whatever-direction-you-spin-it-in/3675/4 "2023-08-01T02:51:50Z")
This solved it! I had previously just trusted the manufacturer’s 160 KV rating, but when I calculated it, it was more like 335. Thanks!
---
### Author:  [@literally-anything](https://community.simplefoc.com/u/literally-anything)
#### Post date: [August 1, 2023, 2:52am UTC](https://community.simplefoc.com/t/motor-keeps-spinning-in-whatever-direction-you-spin-it-in/3675/5 "2023-08-01T02:52:35Z")
Ive printed it out using the monitor, but it looks correct. The position goes up by a bit over 6 radians every rotation.