I am using two user buttons as torque commands. For example , when I am running the motor at zero speed or any speed and apply some torque command, if we try to rotate the wheel and we can feel the applied torque. For every half revoultion of the rotor , torque is going to zero and again gaining his torque. Torque is not present at 0 and 180 degrees position. I need to get applied torque at zero and 180 degrees position also. How can i resolve this issue? What are the other soultions for this problem?