no disengaging motor in stop request

Opentrons · Sep 8, 2023 · a968d4f · a968d4f
1 parent 0380d01
commit a968d4f
Showing 1 changed file with 3 additions and 4 deletions.
diff --git a/include/motor-control/core/brushed_motor/brushed_motion_controller.hpp b/include/motor-control/core/brushed_motor/brushed_motion_controller.hpp
@@ -105,10 +105,9 @@ class MotionController {
         queue.reset();
         // if we're gripping something we need to flag this so we don't drop it
         if (!hardware.get_stay_enabled()) {
-            disable_motor();
-        }
-        if (hardware.is_timer_interrupt_running()) {
-            hardware.request_cancel();
+            if (hardware.is_timer_interrupt_running()) {
+                hardware.request_cancel();
+            }
         }
     }