Rotator loses pointing accuracy after many small nudges about firmware HOT 2 CLOSED

Transferring issue to the firmware repository

from firmware.

Suggestion from Christopher Duffey - turn off holding torque when there is no serial connection. Seems like a good idea.
As luck would have it, the Leonardo variant is about the only type of Arduino where this might just work. Worth putting in to test.
In theory, this should work on Arduino Leonardo, but in practice it doesn't seem to. I suspect there was a change to the Leonardo core recently that broke some serial features, leading to the creation of the SafeSerial library used in the NexDome firmware. Regrettably, this doesn't seem to be an option.

What we've done instead is to start a countdown timer every time there is serial activity. If this timer expires, then the holding torque is released. We chose an initial value of 10 minutes, so the motor would be released 10 minutes after the driver disconnects. It is assumed that the application and driver will generate enough traffic to keep the timer alive. This should be the case because most slaving implementations send position updates at least every 1 to 2 minutes.

from firmware.