I cant find edit thread button so i will just writte it here,i found a little update
When i put velocity on 300 for example or something low like that,everything works fine
But when i put it on 1000 situation on video happens,so i think wiring encoder is fine
I checked for micro switch and there is shown that current mottors are getting is for 8Nm motors,i dont know if i should change to higher current if that could change someting,i am affraid not to fire motors
Any advice is good