Https://docs.odriverobotics.com/v/latest/rc-pwm.html

i try with stm32f103 (How to interface BLDC motor with STM32) controll by pwm
I have some question
1.why motor drive in range 0 to (odrv0.config.gpio(N)_pwm_mapping.min = -200 not go to max value in 200, can make motor drive in range -200 > X > 200
2.my idea want volume resistor control direction motor
3.Why in pwm mode the motor does not rotate continuously? Why does it stop working when a certain encoder is reached?
4.Can pwm control the rotation direction? If you can help with advice?