If you did in fact upped the torque to 100% (and just wrongly reffered to it as decay), then you need to say what is the motor coil resistance, and inductance e.g. datasheet or measured values at least. Could be high resistance/inductance motors, which are wrong kind for this, as that affects tau and hence rise time at low voltages, and at extreme that makes the rise time longer than the switching freq, which basically could mean that voltage may not have enough time to rise to proper value when it needs to. Hence to fix that would need higher supply (24v+), or change motors, or perhaps even lower the frequency from osc pin, but the latter may be limited to some extent. However all this is alot of guessing, so chances are perhaps your case is something else.
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