speed or direction control issue

[liatli]

Any idea of this issue? It makes online control almost impossible. I update the speed and direction command over socket and it randomly throws out the following issue.

future: <Task finished coro=<handle_echo() done, defined at picarx_server.py:7> exception=TimeoutError(110, 'Connection timed out')>
Traceback (most recent call last):
File "picarx_server.py", line 36, in handle_echo
px.forward(speed)
File "/home/pi/picar-x/picarx.py", line 150, in forward
self.set_motor_speed(2, speed * power_scale)
File "/home/pi/picar-x/picarx.py", line 64, in set_motor_speed
self.motor_speed_pins[motor].pulse_width_percent(speed)
File "/usr/local/lib/python3.7/dist-packages/ezblock-0.0.4-py3.7.egg/ezblock/pwm.py", line 112, in pulse_width_percent
self.pulse_width(pulse_width)
File "/usr/local/lib/python3.7/dist-packages/ezblock-0.0.4-py3.7.egg/ezblock/pwm.py", line 101, in pulse_width
self.i2c_write(reg, self._pulse_width)
File "/usr/local/lib/python3.7/dist-packages/ezblock-0.0.4-py3.7.egg/ezblock/pwm.py", line 47, in i2c_write
self.send([reg, value_h, value_l], self.ADDR)
File "/usr/local/lib/python3.7/dist-packages/ezblock-0.0.4-py3.7.egg/ezblock/i2c.py", line 91, in send
self._i2c_write_word_data(addr, reg, data)
File "/usr/local/lib/python3.7/dist-packages/ezblock-0.0.4-py3.7.egg/ezblock/i2c.py", line 24, in _i2c_write_word_data
return self._smbus.write_word_data(addr, reg, data)
TimeoutError: [Errno 110] Connection timed out