Proper zero config routine for physical robot ?

[shivauchiha]

Hi ! I have managed to port this code for STM32 Microcontroller. Everything works excellent. One Issue I am having is setting the zero config of physical robot. The Motor I am using is AK70-10. I understand that zero config of the robot is the legs laying perpendicular to the base of the robot. But I have to set the zero config position every time I boot up the robot. Are there any methods to do this homing efficiently ?