Fix ActiveMotor not moving on Build HAT#2556
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[WIP] Fix ActiveMotor functionality on BuildHat
Fix ActiveMotor not moving on Build HAT
Jun 2, 2026
raffaeler
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Jun 2, 2026
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@copilot Can you check whether this was caused by a firmware update? Do we need to add a check for a particular firmware version? |
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ActiveMotoroperations (MoveForSeconds,MoveToPosition,MoveForDegrees,MoveToAbsolutePosition,SetMotorPower) silently failed on a Raspberry Pi Build HAT — the firmware returnedErrorand the motor never moved, despite no exception being thrown.The attached log showed the firmware rejecting the motor command:
The
pidcommand strings were missing the trailing integral windup-limit argument that current Build HAT firmware requires. The reference python-build-hat library always sends it.Changes
Brick.cs— appended the missing0.01parameter to all fivepidcommands:pid <port> 0 0 s1 1 0 0.003 0.01 0 100→... 0 100 0.01pid <port> 0 1 s4 0.0027777778 0 5 0 .1 3→... .1 3 0.01This brings the emitted serial commands in line with python-build-hat and the firmware's expected argument count.