do not stop movement when other pin interrupts

Opentrons · Nov 20, 2024 · 68c546d · 68c546d
1 parent 1085aba
commit 68c546d
Showing 1 changed file with 7 additions and 5 deletions.
diff --git a/stm32-modules/include/flex-stacker/flex-stacker/motor_task.hpp b/stm32-modules/include/flex-stacker/flex-stacker/motor_task.hpp
@@ -411,15 +411,17 @@ class MotorTask {
     auto visit_message(const messages::GPIOInterruptMessage& m, Policy& policy)
         -> void {
         static_cast<void>(m);
-        static_cast<void>(policy);
-        _z_controller.stop_movement(0, true);
-        _x_controller.stop_movement(0, false);
-        _l_controller.stop_movement(0, false);
         if (policy.is_diag0_pin(m.pin)) {
             send_error_message(Error::MOTOR_STALL_DETECTED);
-        } else {
+        } else if (policy.is_estop_pin(m.pin)) {
             send_error_message(Error::ESTOP_TRIGGERED);
+        } else {
+            // don't care about other interrupts
+            return;
         }
+        _z_controller.stop_movement(0, true);
+        _x_controller.stop_movement(0, false);
+        _l_controller.stop_movement(0, false);
     }
 
     /**