A power tool includes a motor, a speed sensor configured to sense a speed of the motor, and a controller connected to the motor and the speed sensor. The controller is configured to provide power to the motor, determine a first command based on the speed of the motor, determine, while in a first operating mode, whether the first command is greater than or equal to a first limit, determine, while in the first operating mode, a PWM duty cycle ratio based on the first limit, determine, while in a second operating mode, whether a parameter command is greater than or equal to a parameter limit, while in the second operating mode and when the parameter command is greater than or equal to the parameter limit, the PWM duty cycle ratio based on the parameter limit, and drive the motor based on the PWM duty cycle ratio.