Velocity Mode need the motor to not move when idle

I am using BLDC Hoverboard Motors. Everything is working fine but the wheel is easily able to rotate when it is idle… it is used on a robot so I cannot afford it to move freely when 0 velocities…(Working in Velocity Control Mode).

I plotted the current to the motor. It proportionally increases to the amount of movement. ( The more I move, the harder it is to move even more ) .

I either need a way to accelerate that process or need a way in which the motor holds its position once the velocity is zero.

Thanks in advance

If you want it to hold position, switch to position control. If you want it to be stiffer, then increase vel_gain (or vel_integrator gain, which will nominally also try to hold position because integral of velocity is position)

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