From ab6cc79eea2fe71b6f903e5b1f272a69ff813893 Mon Sep 17 00:00:00 2001
From: Simon Pirkelmann <simon.pirkelmann@gmail.com>
Date: Sat, 24 Oct 2020 20:05:39 +0200
Subject: [PATCH] added kick-start for small motor control signals

---
 micropython_firmware/d1motor.py | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/micropython_firmware/d1motor.py b/micropython_firmware/d1motor.py
index 6ca87a6..88afcad 100644
--- a/micropython_firmware/d1motor.py
+++ b/micropython_firmware/d1motor.py
@@ -10,6 +10,10 @@ m0.speed(5000)
 
 """
 import ustruct
+import utime
+import math
+
+sign = lambda x: math.copysign(1, x)
 
 
 _STATE_BRAKE = const(0)
@@ -49,6 +53,10 @@ class Motor:
     def speed(self, speed=None):
         if speed is None:
             return self._speed
+        if abs(speed) < 30 and abs(speed) > 10: # kick-start for small speeds
+            self.speed(int(100 * sign(speed)))
+            utime.sleep_ms(5)
+
         if speed > 0:
             self._speed = min(10000, max(1, speed))
             self._state = _STATE_RIGHT