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If your motor is spinning correctly in one direction and not the other, One cause might be that your hall sensors are not properly aligned on your motor. This causes your motor driver to commutate your motor too early or too late depending on the direction the motor is spinning. This can cause noise, vibration and an inefficient motor.
To check if your hall sensors are aligned with your rotor:
Figure 1: Hall Sensor Vs. Trapezoidal BEMF
Figure 2: Hall Sensor Vs. Sinusoidal BEMF
If the hall sensors are not properly aligned you can use an MCU to either advance or delay the hall sensor signal to correct for the delay.
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