fix: set brake delay to 120 to handle gripper z (#826)

sfoster1 · web-flow · commit 3dacf1ef3ab2 · 2025-06-25T14:15:30.000-04:00
The gripper z motor needs a longer delay than the carriage z motors to
get its brake engaged.
diff --git a/motor-control/firmware/stepper_motor/motor_hardware.cpp b/motor-control/firmware/stepper_motor/motor_hardware.cpp
@@ -21,15 +21,15 @@ void MotorHardware::activate_motor() {
         // brake spec is < 1ms so this is plenty
         motor_hardware_delay(20);
         gpio::reset(pins.ebrake.value());
-        // Brake spec is 50ms to engage/disengage
-        motor_hardware_delay(100);
+        // carriage z needs 80ms and gripper z needs 120, so 120 it is.
+        motor_hardware_delay(120);
     }
 }
 void MotorHardware::deactivate_motor() {
     if (pins.ebrake.has_value()) {
         gpio::set(pins.ebrake.value());
-        // Brake spec is 50ms to engage/disengage
-        motor_hardware_delay(100);
+        // carriage z needs 80ms and gripper z needs 120, so 120 it is.
+        motor_hardware_delay(120);
     }
     gpio::reset(pins.enable);
 }

Original file line number	Diff line number	Diff line change
`@@ -21,15 +21,15 @@ void MotorHardware::activate_motor() {`
`21`	`21`	`// brake spec is < 1ms so this is plenty`
`22`	`22`	`motor_hardware_delay(20);`
`23`	`23`	`gpio::reset(pins.ebrake.value());`
`24`		`- // Brake spec is 50ms to engage/disengage`
`25`		`- motor_hardware_delay(100);`
	`24`	`+ // carriage z needs 80ms and gripper z needs 120, so 120 it is.`
	`25`	`+ motor_hardware_delay(120);`
`26`	`26`	`}`
`27`	`27`	`}`
`28`	`28`	`void MotorHardware::deactivate_motor() {`
`29`	`29`	`if (pins.ebrake.has_value()) {`
`30`	`30`	`gpio::set(pins.ebrake.value());`
`31`		`- // Brake spec is 50ms to engage/disengage`
`32`		`- motor_hardware_delay(100);`
	`31`	`+ // carriage z needs 80ms and gripper z needs 120, so 120 it is.`
	`32`	`+ motor_hardware_delay(120);`
`33`	`33`	`}`
`34`	`34`	`gpio::reset(pins.enable);`
`35`	`35`	`}`