# Fix: Sudden base motion

**URL:** <https://forum.hello-robot.com/t/fix-sudden-base-motion/104>\
**Category:** Ask\
**Created:** [January 5, 2021, 11:29pm UTC](https://forum.hello-robot.com/t/fix-sudden-base-motion/104 "2021-01-05T23:29:46Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![aedsinger](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/aedsinger/32/6_2.png) [@aedsinger](https://forum.hello-robot.com/u/aedsinger)\
**Post date:** [January 5, 2021, 11:29pm UTC](https://forum.hello-robot.com/t/fix-sudden-base-motion/104/1 "2021-01-05T23:29:46Z")

</div>

We’ve had a Stretch user uncover a corner-case bug where the base motion may move without respecting its acceleration limits. This can happen if commanding a base velocity followed by commanding a base position after a power cycle.

This bug affects robots with firmware version Stepper.v0.0.1p0. We’ve posted additional information and a firmware fix here:

> **[stretch\_factory/updates/009\_STEPPER\_STARTUP at master ·...](https://github.com/hello-robot/stretch_factory/tree/master/updates/009_STEPPER_STARTUP)**
>
> master/updates/009\_STEPPER\_STARTUP

Please contact us before applying the fix, we’d be happy to help.