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hi emmasong, great work on this levitating project! i'm wondering could you tell us the algorithm in driving the coils in plain english? here is what i think you did: you pump in current (only in one direction) to one coil at a time then rotate it either clockwise/counter-clockwise to the other 3 coils as fast as you can in order to make the magnet float. the amount of current to drive the coil depends on the strength of the magnetic field sense by the hall sensor. all the coils will have the same polarity when they're driven. am i right? your reply is greatly appreciated! :)