brushed motor isn't hooked up to diag

Opentrons · Oct 24, 2024 · a063f59 · a063f59
1 parent 6fea861
commit a063f59
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Showing 2 changed files with 2 additions and 5 deletions.
diff --git a/include/motor-control/firmware/brushed_motor/brushed_motor_hardware.hpp b/include/motor-control/firmware/brushed_motor/brushed_motor_hardware.hpp
@@ -60,7 +60,7 @@ class BrushedMotorHardware : public BrushedMotorHardwareIface {
     auto check_limit_switch() -> bool final { return limit.debounce_state(); }
     auto check_estop_in() -> bool final { return estop.debounce_state(); }
     auto check_sync_in() -> bool final { return sync.debounce_state(); }
-    auto check_tmc_diag0() -> bool final { return diag.debounce_state(); }
+    auto check_tmc_diag0() -> bool final { return false; }
     void read_limit_switch() final;
     void read_estop_in() final;
     void read_sync_in() final;
@@ -99,7 +99,6 @@ class BrushedMotorHardware : public BrushedMotorHardwareIface {
     debouncer::Debouncer estop = debouncer::Debouncer{};
     debouncer::Debouncer limit = debouncer::Debouncer{};
     debouncer::Debouncer sync = debouncer::Debouncer{};
-    debouncer::Debouncer diag = debouncer::Debouncer{.holdoff_cnt = 90};
     BrushedHardwareConfig pins;
     void* enc_handle;
     int32_t motor_encoder_overflow_count = 0;

diff --git a/motor-control/firmware/brushed_motor/brushed_motor_hardware.cpp b/motor-control/firmware/brushed_motor/brushed_motor_hardware.cpp
@@ -58,9 +58,7 @@ void BrushedMotorHardware::read_sync_in() {
     sync.debounce_update(gpio::is_set(pins.sync_in));
 }
 
-void BrushedMotorHardware::read_tmc_diag0() {
-    diag.debounce_update(gpio::is_set(pins.diag0));
-}
+void BrushedMotorHardware::read_tmc_diag0() { return; }
 
 int32_t BrushedMotorHardware::get_encoder_pulses() {
     if (!enc_handle) {