The present invention provides a method for driving a three-phase motor with a driver. The driver can provide a pulse-width modulated driving signal and a linear driving signal. The three-phase motor has a first leg, a second leg and a third leg. The method includes: connecting the second leg to the driver; floating the third leg; driving the second leg with the pulse-width-modulated driving signal from the driver; estimating a time when a voltage in the third leg will reach a predetermined threshold; and driving the second leg with the linear driving signal during that time.