Sorry for the late reply… Yes, indeed I use PWM to control the motors. I did have issues with motor whining, especially when I started to try with the brushless. I have set the PWM above audio frequency, I think I’m running at 25kHz or so, and I don’t hear the PWM any more. However, I do hear the motors with certain effects, for example with friction or other effects that depend on the reading from the axis. Due to some inevitable noise on the reading (despite filtering the encoder reading to smooth it down) there are cases where the motor has some sort of jitter and makes noise.
But I would not go for a linear control of the motors, it would be extremely power wasting and it’s sufficient to go above 20-22kHz and you won’t hear the PWM.
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