Anyone that gets !halls! for a split second when switching between regen and throttle, this is due to emi bleeding over into the hall sensor wires from the phase wires. I saw this problem posted on the Russian forum and after rewiring the motor with shielded cable, then grounding one end of the cable on the frame this has now totally solved the problem, as it works just fine now. They said ideally all the cables should be replaced with shielded ones, even the bms etc. I only get !BMS! sometimes when braking / accelerating, so I may try moving the bms further from the controller, if it still persists I will replace the cabling on that too. The display cable isnt a problem as it runs outside the metal battery case, so the case should in theory act like a Faraday cage and block the emi.