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va3wam / TWIPe

This repository contains the embedded code used for the TWIPe robot
MIT License
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Motors start up tense #86

Closed va3wam closed 3 years ago

va3wam commented 3 years ago

We cannot spin the wheels when the robot first starts up. Once the robot tries to balance and lays back down we can spin the wheels. We need to change the startup routine to act the same way as the routine when the robot lays back down.

nerdoug commented 3 years ago

This has been reduced by disabling motors in setup(). Still takes a while, because network connection happens first, and can be slow. In some ways, keeping motors tense once we've started using them is a good thing, because it keeps the DRV motor controllers synchronized with the state of the stepper coil magnetic stats.