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Motor driver damage and jerking behavior when load driving in same direction as motor

Initially, when lowering, if I sent the motor driver a duty cycle to lower it would jerk, then freewheel, then lower very slowly, and that channel of the driver would no longer function, and would produce … and temporarily shut off, thereby shutting off the motor driver, but then the motor driver would get powered on by the back drive voltage of the motor, freak out, freewheel, get damaged, and shut everything …
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