This week I worked with Bolaji on getting the motor to spin in both directions after getting the flux observer working. The flux observer functionality is the result of getting the ADCs working, and allows us to spin the motor faster and with higher torque than we have before. While the motor does spin in both directions, it produces more torque and is quieter in one direction. Investigating the code did not result in finding anything that would cause the differing behavior in each direction (i.e. the code is fairly direction-agnostic). Next week we will try to find the root cause of this in more detail.