fix(gripper): gripper simulator (#726)

Opentrons · Sep 20, 2023 · ad507bf · ad507bf
1 parent fb65580
commit ad507bf
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Showing 2 changed files with 6 additions and 2 deletions.
diff --git a/include/motor-control/simulation/brushed_motor_interrupt_driver.hpp b/include/motor-control/simulation/brushed_motor_interrupt_driver.hpp
@@ -60,8 +60,8 @@ class BrushedMotorInterruptDriver {
                         }
                         handler.run_interrupt();
 
-                    } while (handler.motor_state ==
-                             brushed_motor_handler::ControlState::ACTIVE);
+                    } while (iface.get_motor_state() ==
+                             BrushedMotorState::FORCE_CONTROLLING);
                     LOG("Move completed. Stopping interrupt simulation..");
                 }
             }

diff --git a/include/motor-control/simulation/sim_motor_hardware_iface.hpp b/include/motor-control/simulation/sim_motor_hardware_iface.hpp
@@ -185,6 +185,9 @@ class SimBrushedMotorHardwareIface
     void disable_encoder() final {}
     void enable_encoder() final {}
 
+    void set_motor_state(BrushedMotorState state) final { motor_state = state; }
+    auto get_motor_state() -> BrushedMotorState final { return motor_state; }
+
   private:
     bool stay_enabled = false;
     bool limit_switch_status = false;
@@ -199,6 +202,7 @@ class SimBrushedMotorHardwareIface
     MoveMessageHardware _id;
     bool estop_detected = false;
     std::atomic<bool> cancel_request = false;
+    BrushedMotorState motor_state = BrushedMotorState::UNHOMED;
     motor_hardware::UsageEEpromConfig eeprom_config{
         std::array<UsageRequestSet, 1>{UsageRequestSet{
             .eeprom_key = 0,