During this week, the architecture of the firmware of the motion system was change. The principal modifications consist on the separation of the stepper drivers in their own thread, and the separation of the websocket listener and the motion system in their own thread. These changes improve the time to provide the snack to the client.
Additionally, the stepper motors which were driven by the ULN2003A were switched from 5V to 12V to improve the torque and velocity of the product dispenser.