motor driver freezes at duty restart

very annoying bug with motor driver: sometimes a motor seemingly randomly freezes for a few seconds, then immediately starts at current set duty again - feels very bugged

especially when trying to add angle threshold (snap to 1 / 0) for tighter turn radius so one motor is off while turning this bug basically occurs every time -> inner motor does not start again after curve

current workaround

when 1 motor frozen, release joystick so both motors are off, then go again

observations

best for testing:

turn deceleration off (8x button press)
forward, release, forward again

common situations

both motors forward
motor1 duty to 0
motor1 duty positive ==> motor1 freezes / stays off ==> after a few seconds it starts
both motors to 0
both motors forward ==> both motors respond again

both motors forward
both motors 0
both motors forward => one or both motor freeze for (shorter than usual) time then start at current duty

ideas / theories

A, B driver signal gets noise from other running driver?
bug with driver getting confused by stopped duty
- not likely, see tests
signals affect each other because with common diode and pullup at mosfet pins

things tried

- leave duty on in idle
- never switch do idle
- always stay in FWD with some duty on
- reduce max duty to 60%

same issue persists 1 motor gets close to 0 duty while other is on it freezes

todo

[x] take of chair and measure with oscilloscope
- measure actual voltage at A, B pins
- measure acutal pwm signal
[x] search the internet for issues with thos drivers
[ ] implement workaround?
- [x] detect situation when motor gets to 0 duty and restarts,
- [x] stop other motor too for 100ms
- [x] restart at previous duty immediately

Jonny999999 / armchair_fw