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Opentrons · Dec 14, 2023 · c7af96e · c7af96e
1 parent c6d92c7
commit c7af96e
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Showing 3 changed files with 11 additions and 9 deletions.
diff --git a/gripper/core/tasks.cpp b/gripper/core/tasks.cpp
@@ -123,8 +123,8 @@ auto gripper_tasks::start_tasks(
     queues.capacitive_sensor_queue_rear =
         &capacitive_sensor_task_rear.get_queue();
 
-    auto diag0_handler = z_tasks::start_task(z_motor, spi_device, driver_configs, tasks, queues,
-                        tail_accessor);
+    auto diag0_handler = z_tasks::start_task(
+        z_motor, spi_device, driver_configs, tasks, queues, tail_accessor);
 
     g_tasks::start_task(grip_motor, tasks, queues, tail_accessor);
 

diff --git a/gripper/firmware/interfaces_z_motor.cpp b/gripper/firmware/interfaces_z_motor.cpp
@@ -103,11 +103,12 @@ struct motion_controller::HardwareConfig motor_pins {
             .port = ESTOP_IN_PORT,
             .pin = ESTOP_IN_PIN,
             .active_setting = GPIO_PIN_RESET},
-    .diag0 = {
-        // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
-        .port = GPIOB,
-        .pin = GPIO_PIN_2,
-        .active_setting = GPIO_PIN_RESET},
+    .diag0 =
+        {
+            // NOLINTNEXTLINE(cppcoreguidelines-pro-type-cstyle-cast)
+            .port = GPIOB,
+            .pin = GPIO_PIN_2,
+            .active_setting = GPIO_PIN_RESET},
     .ebrake = ebrake
 };
 
@@ -217,7 +218,8 @@ void z_motor_iface::initialize(diag0_handler* call_diag0_handler) {
         Error_Handler();
     }
     initialize_hardware_z();
-    set_z_motor_timer_callback(call_motor_handler, call_diag0_handler, call_enc_handler);
+    set_z_motor_timer_callback(call_motor_handler, call_diag0_handler,
+                               call_enc_handler);
     encoder_background_timer.start();
 }
 

diff --git a/include/gripper/core/tasks.hpp b/include/gripper/core/tasks.hpp
@@ -47,7 +47,7 @@ auto start_tasks(can::bus::CanBus& can_bus,
                  eeprom::hardware_iface::EEPromHardwareIface& eeprom_hw_iface,
                  motor_hardware_task::MotorHardwareTask& zmh_tsk,
                  motor_hardware_task::MotorHardwareTask& gmh_tsk)
-                 -> z_motor_iface::diag0_handler;
+    -> z_motor_iface::diag0_handler;
 
 /**
  * Access to all the message queues in the system.