From d248cccf81d5a7a624a867dcc7bc8f4141933ec4 Mon Sep 17 00:00:00 2001
From: Harald Barth <haba@kth.se>
Date: Sun, 1 Nov 2020 10:16:29 +0100
Subject: [PATCH] special treatment for Pololu board

---
 MotorDriver.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/MotorDriver.cpp b/MotorDriver.cpp
index 65619ff..ae832e9 100644
--- a/MotorDriver.cpp
+++ b/MotorDriver.cpp
@@ -55,6 +55,12 @@ MotorDriver::MotorDriver(byte power_pin, byte signal_pin, byte signal_pin2, int8
 }
 
 void MotorDriver::setPower(bool on) {
+  if (brakePin == -4 && on) {
+    // toggle brake before turning power on - resets overcurrent error
+    // on the Pololu board if brake is wired to ^D2.
+    setBrake(true);
+    setBrake(false);
+  }
   WritePin(powerPin, on ? HIGH : LOW);
 }