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Yes, the a and b inputs on the encoder. "A leads b" in one direction. So if you swap them in the code, b leads a, and the controller thinks the motor is spinning the other way. I'll add the a and b swap as a configuration variable. So, if it goes the wrong way, you enable the configuration thru the serial port, and also swap any 2 of u, v, w (the 3 phases). I could just have it rotate the other way without swapping things, but there would need to be other code changes. They may be easy. I just haven't thought about it yet. FIRST TEST SOON. (Maybe today)
Lol, you are right about the dinosaur egg. Haha. Similarly, I think kneel came before zod. Since single celled orgamisms could probably kneel, and zod was from like 1980.
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