Changes in fc09e07: motor

				Tech-dat/acturator-dat/motor-dat/motor-servo-dat/motor-servo-dat.md
			
          @@ -331,6 +331,29 @@ If you are using smaller servos for the **Rover V2** (for sensors or light mecha

           | **Large/Giant** | HS-805BB       | ~8.00 mm      | 15T / 17T    | M4         |

          +

          +

          +

          +## # Troubleshooting SG90 Servo "Chattering" and Noise

          +

          +The "滋滋" (humming) or "jittering" sound in an SG90 servo is usually caused by the internal motor trying to correct its position due to mechanical resistance, electrical noise, or signal instability.

          +

          +

          +* **Mechanical Stalling:** The servo is commanded to an angle (like 0° or 180°) that it cannot physically reach because of the internal plastic stops or your robot's chassis.

          +* **Signal Jitter:** The PWM signal from the microcontroller is unstable, causing the analog control chip to rapidly oscillate.

          +* **Power Sag:** If your power supply cannot provide enough current (SG90 needs ~500mA peak), the voltage drops, causing the control logic to glitch.

          +* **Deadband Hunting:** The servo's internal potentiometer is "hunting" for the exact center of a position it can't quite maintain.

          +

          +

          +## 2. Recommended Code Solution (Arduino/C++)

          +A professional trick to silence SG90 servos is to **"Detach"** the PWM signal once the movement is finished. This stops the motor from trying to micro-correct and eliminates the hum.

          +

          +

          +

          +

          +

          +

          +

           ## code 

           - [[code-dat]]

				Tech-dat/acturator-dat/motor-driver-dat/motor-driver-dat.md
			
          @@ -319,6 +319,18 @@ A DC motor reverses direction by reversing the polarity of the voltage applied t

           - [[mosfet-motor-control-dat]] - [[relay-motor-control-dat]]

          +## power rail for servo 

          +

          +- [[power-dat]] - [[motor-servo-dat]]

          +

          +

          +If you find your ESP32 keeps restarting when the servos move, try these fixes:

          +

          +Separate the Power Rails: Use the 18650 to power the servos directly (if they can handle the raw 3.7V–4.2V range, which most SG90s can, though they'll be slightly slower) and use the boost converter only for the ESP32.

          +

          +Add a Large Capacitor: Place a large electrolytic capacitor (e.g., 1000µF or higher) across the 5V and GND rails near the servos. This acts as a "buffer" to handle the initial current spike when the motors start.

          +

          +

           ## Other Tech

           - [[FOC-dat]]

...	...	@@ -331,6 +331,29 @@ If you are using smaller servos for the Rover V2 (for sensors or light mecha
331	331	\| Large/Giant \| HS-805BB \| ~8.00 mm \| 15T / 17T \| M4 \|
332	332
333	333
	334	+
	335	+
	336	+
	337	+## # Troubleshooting SG90 Servo "Chattering" and Noise
	338	+
	339	+The "滋滋" (humming) or "jittering" sound in an SG90 servo is usually caused by the internal motor trying to correct its position due to mechanical resistance, electrical noise, or signal instability.
	340	+
	341	+
	342	+* Mechanical Stalling: The servo is commanded to an angle (like 0° or 180°) that it cannot physically reach because of the internal plastic stops or your robot's chassis.
	343	+* Signal Jitter: The PWM signal from the microcontroller is unstable, causing the analog control chip to rapidly oscillate.
	344	+* Power Sag: If your power supply cannot provide enough current (SG90 needs ~500mA peak), the voltage drops, causing the control logic to glitch.
	345	+* Deadband Hunting: The servo's internal potentiometer is "hunting" for the exact center of a position it can't quite maintain.
	346	+
	347	+
	348	+## 2. Recommended Code Solution (Arduino/C++)
	349	+A professional trick to silence SG90 servos is to "Detach" the PWM signal once the movement is finished. This stops the motor from trying to micro-correct and eliminates the hum.
	350	+
	351	+
	352	+
	353	+
	354	+
	355	+
	356	+
334	357	## code
335	358
336	359	- [[code-dat]]

...	...	@@ -319,6 +319,18 @@ A DC motor reverses direction by reversing the polarity of the voltage applied t
319	319
320	320	- [[mosfet-motor-control-dat]] - [[relay-motor-control-dat]]
321	321
	322	+## power rail for servo
	323	+
	324	+- [[power-dat]] - [[motor-servo-dat]]
	325	+
	326	+
	327	+If you find your ESP32 keeps restarting when the servos move, try these fixes:
	328	+
	329	+Separate the Power Rails: Use the 18650 to power the servos directly (if they can handle the raw 3.7V–4.2V range, which most SG90s can, though they'll be slightly slower) and use the boost converter only for the ESP32.
	330	+
	331	+Add a Large Capacitor: Place a large electrolytic capacitor (e.g., 1000µF or higher) across the 5V and GND rails near the servos. This acts as a "buffer" to handle the initial current spike when the motors start.
	332	+
	333	+
322	334	## Other Tech
323	335
324	336	- [[FOC-dat]]