Controlando el motor de cardán sin escobillas (BGM2804)

Estoy usando una placa estándar para controlar este tipo de motor (SimpleBGC), esta placa usa una atmeg328p e algunos controladores sin escobillas. Estoy escribiendo un código simple para girar a la izquierda / derecha con cierta velocidad, pero tengo algunos problemas. Los motores están sobrecalentados, y el par es muy bajo. El motor tiene 12 polos (polos: 12N14P), ¿cómo ajusto la frecuencia correcta de pwm para este número de polos? Y quiero entender la relación entre el número de polos y la frecuencia de los temporizadores pwm.

1) EDITAR La placa que estoy usando - enlace Esta placa utiliza un atmega328p, y para impulsar la potencia de los motores con este MOSFET 4606

El motor que estoy tratando de usar, enlace

El código

//main loop--------------------------------------------------------
#include <math.h>

#define LEDPIN   A1

bool power = false;            //run when power is true

uint16_t freqCounter = 0;
uint16_t oldfreqCounter = 0;
uint16_t loop_time = 0;         //how fast is the main loop running

//motor control-------------------------------------------------------
#define PWM_A_MOTOR1 OCR2A
#define PWM_B_MOTOR1 OCR1B
#define PWM_C_MOTOR1 OCR1A

#define PWM_A_MOTOR0 OCR0A
#define PWM_B_MOTOR0 OCR0B
#define PWM_C_MOTOR0 OCR2B

#define RESOLUTION 255
#define MOTOR_POWER 255 // 0 to 255, 255==100% power

uint8_t idl_motor_power = 80;

// motor numbers
#define L_Motor 0
#define R_Motor 1

// motor pole angle, 0->255 overflow to loop after >>8 shift
uint16_t R_MotorStep = 0;
uint16_t L_MotorStep = 0;

float robot_speed;

//rotation speed for turning
int8_t rot_Speed = 0;

// speed of motors, -127 to 127
int16_t R_Speed = 0;
int16_t L_Speed = 0;

float R_pos = 0;
float L_pos = 0;

//AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
//------------------------------------------------------------------------------------
//------------------------------------------------------------------------------------
//AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA

void setup()
{
  // Start Serial Port
  Serial.begin(11520);

  //Setup brushless motor Controller
  Bl_Setup();
  Serial.println("BL motor setup - ok");

  while (Serial.available())  Serial.read();        // empty RX buffer
}


void loop()
{
  //run main loop every ~4ms
  R_Speed = 50;
  L_Speed = 100;
}

//--------------------------------------------------------------------
//Motor control stuff-------------------------------------------------
//--------------------------------------------------------------------

void Bl_Setup()
{
  pinMode(3, OUTPUT);
  pinMode(5, OUTPUT);
  pinMode(6, OUTPUT);
  pinMode(9, OUTPUT);
  pinMode(10, OUTPUT);
  pinMode(11, OUTPUT);

  digitalWrite(LEDPIN, HIGH);

  cli();//stop interrupts

  //timer setup for 31.250KHZ phase correct PWM
  TCCR0A = 0;
  TCCR0B = 0;
  TCCR0A = _BV(COM0A1) | _BV(COM0B1) | _BV(WGM00);
  TCCR0B = _BV(CS00);
  TCCR1A = 0;
  TCCR1B = 0;
  TCCR1A = _BV(COM1A1) | _BV(COM1B1) | _BV(WGM10);
  TCCR1B = _BV(CS10);
  TCCR2A = 0;
  TCCR2B = 0;
  TCCR2A = _BV(COM2A1) | _BV(COM2B1) | _BV(WGM20);
  TCCR2B = _BV(CS20);

  // enable Timer 1 interrupt
  TIMSK1 = 0;
  TIMSK1 |= _BV(TOIE1);
  // disable arduino standard timer interrupt
  TIMSK0 &= ~_BV(TOIE1);

  sei(); // Start Interrupt

  //turn off all PWM signals
  OCR2A = 0;  //11  APIN
  OCR2B = 0;  //D3
  OCR1A = 0;  //D9  CPIN
  OCR1B = 0;  //D10 BPIN
  OCR0A = 0;  //D6
  OCR0B = 0;  //D5

  // switch off PWM Power
  motorPowerOff();
}

// switch off motor power
void motorPowerOff() {
  MoveMotors(L_Motor, 0, 0);
  MoveMotors(R_Motor, 0, 0);
  R_Speed = 0;
  L_Speed = 0;
}

void MoveMotors(uint8_t motorNumber, uint8_t posStep, uint16_t power)
{
  int16_t pwm_a;
  int16_t pwm_b;
  int16_t pwm_c;

  pwm_a = (int16_t) 128+128*sin(2*M_PI*(double)(posStep)/RESOLUTION);
  pwm_b = (int16_t) 128+128*sin(2*M_PI*(0.33+(double)(posStep)/RESOLUTION));
  pwm_c = (int16_t) 128+128*sin(2*M_PI*(0.66+(double)(posStep)/RESOLUTION));

  // scale motor power
  pwm_a *= power/255;
  pwm_b *= power/255;
  pwm_c *= power/255;

  // set motor pwm variables
  if (motorNumber == 0)
  {
    PWM_A_MOTOR0 = (uint8_t)pwm_a;
    PWM_B_MOTOR0 = (uint8_t)pwm_b;
    PWM_C_MOTOR0 = (uint8_t)pwm_c;
  }

  if (motorNumber == 1)
  {
    PWM_A_MOTOR1 = (uint8_t)pwm_a;
    PWM_B_MOTOR1 = (uint8_t)pwm_b;
    PWM_C_MOTOR1 = (uint8_t)pwm_c;
  }
}

//--------------------------------------------------------------
// code loop timing---------------------------------------------
//--------------------------------------------------------------
// minimize interrupt code length
// is called every 31.875us (510 clock cycles)  ???????
ISR( TIMER1_OVF_vect )
{
  //every 32 count of freqCounter ~1ms
  freqCounter++;

  if ((freqCounter & 0x01f) == 0)
  {
    // record when loop starts
    oldfreqCounter = freqCounter;

    if(R_pos>RESOLUTION) R_pos=0;
    if(L_pos>RESOLUTION) L_pos=0;
    MoveMotors(R_Motor, (uint8_t) R_pos, MOTOR_POWER);
    MoveMotors(L_Motor, (uint8_t) L_pos, MOTOR_POWER);
    R_pos+=R_Speed/20;
    L_pos+=L_Speed/20;

    //calculate loop time
    if (freqCounter > oldfreqCounter)
    {
      if (loop_time < (freqCounter - oldfreqCounter)) loop_time = freqCounter - oldfreqCounter;
    }

  }

}