[Bpk9p4]

Thanks for all of the great replies. It is amazing the support you can get on this website.

I am using the sleeve bearing (not sure on part number) so you could be correct and i am exceeding the max speed. however i still get a lot of noise at low speed

I will add the config timer tonight when i get home and try reducing it to x1 to see if that helps. I am currently running it with no load already. i will also post a plot of the encoder values and noise and more information about which encoder i have


edit:
Gear box: VexPro 3 cim ball shifter with 2.16 ratio and we are mounting the encoder to the gear box with an idler sprocket
encoder: us digital s4 with 256 cpr