Closed genamag closed 5 months ago
the issue was the LC filter, not physical vibrations. Fast ripples in the current through the motor probably caused a lot of voltage and current spikes in the passive components, which in turn disrupted the fragile I2C communication
getting rid of the LC filter in the circuit completely eliminated the issue
When we test the prototype, at the equilibrium point the wheel started vibrating like crazy due to PID control, and then we started seeing errors in I2C communication between the Pi and the sensor.
Restarting the MPU fixes it, but the issue comes back during every test run
We don't know if it is a hardware or a software issue for now