Motor Configuration

Your Brushless motors should be aligned so that the same signal is sent to each motor. To understand this consider the following.

Typically motors that are placed opposite each other will have one motor reserved in code, this is done so they both spin in the same direction.

With a reversible brushless motor, we typically send the stop signal to be in the middle of a range. Let's assume that range is 90 degrees. Therefore 180 degrees would be full speed forward and 0 degrees would be full speed backwards.

In a normal situation, one motor would be 180 degrees and one motor would be 0 degrees. In practice this will produce different motor speeds and the robot won't travel straight.

We need to use a trick to get the motors to both travel in the same signal direction. We do this by swapping any two other the phases wires, this will cause the motor to spin in the other direction.

How do you apply this? Don't change the code to change the motor direction, change the phase wire.