DRV2605L: Vybronics VLV101040A LRA Motors Getting Extremely Hot

Tool/software:

Hi, I'm driving 4 LRA motors using 4 DRV2605L continuously, with PWM input for about 2 hours. I've posted a snipped ot my code. It's configured so that 1 motor vibrates at 250 Hz once in a particular period, and the rests for 667ms.

However, after some time, these motors start to get burning hot. I've reduced to duty cycle from 180 to 140. However, I know according to the data sheet once this gets to 127, there's 0 volts delivered to the motors. How could I potentially solve this problem. It seems like too much current is going through the motors. I have used a voltage divider , and this has worked, but I would Ideally like to not do that for efficiency reasons. Could I reduce the duty cycle even further?

Please let me know any suggestions you have:

#include <Wire.h>
#include "Adafruit_DRV2605.h"
#include <esp_now.h>
#include <WiFi.h>

Adafruit_DRV2605 drv0;
Adafruit_DRV2605 drv1;
Adafruit_DRV2605 drv2;
Adafruit_DRV2605 drv3;

const int PWM_CHANNEL0 = 0;
const int PWM_CHANNEL1 = 1;
const int PWM_CHANNEL2 = 2;
const int PWM_CHANNEL3 = 3;
const int PWM_FREQ = 32000;
const int PWM_RESOLUTION = 8;
const int JITTER = 23.5;
int dutyCycle = 140;

const int DRV1 = 3;
const int DRV2 = 4;
const int DRV3 = 5;
const int DRV4 = 10;

int perms[24][4] = {
  {0, 1, 2, 3}, {1, 0, 2, 3}, {2, 0, 1, 3}, {0, 2, 1, 3},
  {1, 2, 0, 3}, {2, 1, 0, 3}, {2, 1, 3, 0}, {1, 2, 3, 0},
  {3, 2, 1, 0}, {2, 3, 1, 0}, {1, 3, 2, 0}, {3, 1, 2, 0},
  {3, 0, 2, 1}, {0, 3, 2, 1}, {2, 3, 0, 1}, {3, 2, 0, 1},
  {0, 2, 3, 1}, {2, 0, 3, 1}, {1, 0, 3, 2}, {0, 1, 3, 2},
  {3, 1, 0, 2}, {1, 3, 0, 2}, {0, 3, 1, 2}, {3, 0, 1, 2}
};

void TCA9548A(uint8_t bus){
  Wire.beginTransmission(0x70);
  Wire.write(1 << bus);
  Wire.endTransmission();
}

void setup() {
  Wire.begin(6,7);
  TCA9548A(0);
  delay(50);

  while (! drv0.begin()) {
    delay(5000);
  }
  drv0.useLRA();
  drv0.setMode(3);
  drv0.writeRegister8(0x1D, 161);

  TCA9548A(1);
  while (! drv1.begin()) {
    delay(5000);
  }
  drv1.useLRA();
  drv1.setMode(3);
  drv1.writeRegister8(0x1D, 161);

  TCA9548A(2);
  while (! drv2.begin()) {
    delay(5000);
  }
  drv2.useLRA();
  drv2.setMode(3);
  drv2.writeRegister8(0x1D, 161);

  TCA9548A(3);
  while (! drv3.begin()) {
    delay(5000);
  }
  drv3.useLRA();
  drv3.setMode(3);
  drv3.writeRegister8(0x1D, 161);

  ledcSetup(PWM_CHANNEL1, PWM_FREQ, PWM_RESOLUTION);
  ledcSetup(PWM_CHANNEL0, PWM_FREQ, PWM_RESOLUTION);
  ledcSetup(PWM_CHANNEL2, PWM_FREQ, PWM_RESOLUTION);
  ledcSetup(PWM_CHANNEL3, PWM_FREQ, PWM_RESOLUTION);

  ledcAttachPin(DRV1, PWM_CHANNEL0);
  ledcAttachPin(DRV2, PWM_CHANNEL1);
  ledcAttachPin(DRV3, PWM_CHANNEL2);
  ledcAttachPin(DRV4, PWM_CHANNEL3);
}

void loop() {
  for(int period = 1; period < 4; period++){
    int pattern = random(25);
    for(int j = 0; j < 4; j++){
      ledcWrite(perms[pattern][j], dutyCycle);
      delay(100);
      ledcWrite(perms[pattern][j], 0);
      delay(66);
    }
  }
  delay(666);
}