Motor Randomly Speeds up When Running at Constant Speed

[dacohen]

This is quite possibly an issue related to the intermittent zero commands being sent to the Arduino. If the commanded speed modulates too quickly, the error will explode, and the output will shoot up as the PID loop tries to correct.

[irapha]

@dacohen This is still happening. Except now it is only triggered when we try turning. i.e.: When we try turning, not only does it try to turn (as expected) but it also speeds up .