Tenants not home. Can I enter with text notification with notice?

[Brad R.]

I have 3 tenants out of town.  Our lease says 24 hour notice, which I have given via text.  Told them I'm coming in to do general maintenance (air filter, dehumidifier install, etc) and they asked that I come when they are home.  Can I legally enter with text and/or email notification or do I need to send a written letter?  This is in saint Louis park, MN.  Our lease terms say 24 hour notice.  

Thanks a lot!