Question AASD-15A in Torque mode. Any way to reduce the noise?

Hi guys!

I've made a very simple sketch to run my ST60 motor in torque mode for my sway and im using a Cytron 30C something as its the only one i got on hand at the momemt but the noise is way to high. Any way to reduce this? I've tried some smoothing settings and changing PWM (borrowed some code) but dosent seem to do anything.

Here's a short vid. https://youtube.com/shorts/4zTE-Jn3J4U

Code:

/*******************************************************************************
 * THIS SOFTWARE IS PROVIDED IN AN "AS IS" CONDITION. NO WARRANTY AND SUPPORT
 * IS APPLICABLE TO THIS SOFTWARE IN ANY FORM. CYTRON TECHNOLOGIES SHALL NOT,
 * IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL OR CONSEQUENTIAL
 * DAMAGES, FOR ANY REASON WHATSOEVER.
 ********************************************************************************
 * DESCRIPTION:
 *
 * This example shows how to drive a motor using the PWM and DIR pins.
 * This example only shows how to drive a single motor for simplicity.
 * For dual channel motor driver, both channel work the same way.
 *
 *
 * CONNECTIONS:
 *
 * Arduino D3  - Motor Driver PWM Input
 * Arduino D4  - Motor Driver DIR Input
 * Arduino GND - Motor Driver GND
 *
 *
 * AUTHOR   : Kong Wai Weng
 * COMPANY  : Cytron Technologies Sdn Bhd
 * WEBSITE  : www.cytron.io
 * EMAIL    : support@cytron.io
 *
 *******************************************************************************/

 #include "CytronMotorDriver.h"


// Configure the motor driver.
CytronMD motor(PWM_DIR, 3, 4);  // PWM = Pin 3, DIR = Pin 4.

// pwmMode - sets the PWM frequency, valid options as follows:
// pwmMode = 0 will use 980Hz PWM, default mode which will work with all fan types, will cause coil whine if using a MM.
// pwmMode = 1 will use 4kHz PWM, might reduce coil whine for blowers, use heatsinks on the MM - check MM temp at a low fan speed.
// pwmMode = 2 will use 8kHz PWM, might be OK for blowers with active cooling on the MM - check MM temp at a low fan speed.
// pwmMode = 3 will use 31kHz PWM, use with caution - not for blowers with MM as it will cause very high temps. Check MM temp at a low fan speed.
// server fans - should be able to use pwmMode = 2 or 3. If you are using the PWM control on the server fan, leave this at default 0.
// if you have blowers with a monster moto, try pwmMode = 1 or 2 and check whether your monster moto temp at low speeds.
int pwmMode = 1; // value of 0, 1, 2 or 3 - modes 2 and 3 will overheat a Monster Moto if used with blowers


// The setup routine runs once when you press reset.
void setup() {
  Serial.begin(500000);
   motor.setSpeed(0);


    // disable timer0's interrupt handler - this will disable Arduino's time keeping functions such as delay()
  TIMSK0 &= B11111110;

  if (pwmMode == 1)
    {
    // Set pins 5 & 6 to Phase-correct PWM of 3.9 kHz (prescale factor of 8)
    TCCR0A = _BV(COM0A1) | _BV(COM0B1) | _BV(WGM00); // phase-correct PWM
    TCCR0B = _BV(CS01); // prescaler of 8, gives frequency 61kHz/8/2 = 3.9kHz
    }
  else if (pwmMode == 2)
    {
    // Set pins 5 & 6 to Fast PWM of 7.8 kHz (prescale factor of 8)
    TCCR0A = _BV(COM0A1) | _BV(COM0B1) | _BV(WGM01) | _BV(WGM00); // fast PWM
    TCCR0B = _BV(CS01); // prescaler of 8, gives frequency 61kHz/8 = 7.8kHz
    }
  else if (pwmMode == 3)
    {
    // Set pins 5 & 6 to Phase-correct PWM of 31.25 kHz (prescale factor of 1)
    TCCR0A = _BV(COM0A1) | _BV(COM0B1) | _BV(WGM00); // phase-correct PWM
    TCCR0B = _BV(CS00); // prescaler of 1, gives frequency 61kHz/1/2 = 31.25kHz
    }
  else
    {
    // Set pins 5 & 6 to Fast PWM of 980Hz (prescale factor of 64)
    TCCR0A = _BV(COM0A1) | _BV(COM0B1) | _BV(WGM01) | _BV(WGM00); // fast PWM
    TCCR0B = _BV(CS01) | _BV(CS00); // prescaler of 64, gives frequency 61kHz/64 = 980Hz
    }
}


// The loop routine runs over and over again forever.
void loop() {
   // put your main code here, to run repeatedly:

 // motor.setSpeed(0);
   
   while (Serial.available()> 0)
   {
      unsigned int Speed = Serial.read()  ; // Dont need -48, Mover compensates // divide by 4 to get 8 bit

     if (Speed > 128){
        Speed = map(Speed, 128, 255, 0, 255);
       // Serial.println (Speed);
        motor.setSpeed(Speed);
       
     }

    else if (Speed < 126){
        Speed = map(Speed, 0, 126, -255, 0);
       
        motor.setSpeed(Speed);
       
     }
     else {
     //   motorOff ();
        motor.setSpeed(0);
     
        }
         
   }
       



  // motor.setSpeed(128);  // Run forward at 50% speed.
  // delay(10000);
 
  // motor.setSpeed(255);  // Run forward at full speed.
  // delay(10000);

  // motor.setSpeed(0);    // Stop.
  // delay(10000);

  // motor.setSpeed(-128);  // Run backward at 50% speed.
  // delay(10000);
 
  // motor.setSpeed(-255);  // Run backward at full speed.
  // delay(10000);

  // motor.setSpeed(0);    // Stop.
  // delay(1000);
}

google Low-Pass Filter a PWM Signal into an Analog Voltage