How to Get more Torque out of Motor

Hi, I’ve been testing my motor with a load cell to try and test the maximum torque I can get. I am controlling my motor with a teensy microcontroller and a joystick using some arduino code I have put together. When the arm I have connected to the motor comes in contact with the load cell it doesn’t go past 0.33A of current. I know the motor is capable of much more torque but don’t know how I can increase it or the current that goes to the motor.

What input and control mode are you in? What do you have set for torque_limit, current_limit, and torque_constant? Have you tuned the velocity controller Kp, Ki, and Limit? These values apply also in torque mode, as described here: Getting Started — ODrive Pro Documentation 0.6.3 documentation