fix(motor-control): monitor encoder during empty moves (#731)

Opentrons · Oct 19, 2023 · cd2ae02 · cd2ae02
1 parent 01859ad
commit cd2ae02
Show file tree

Hide file tree

Showing 2 changed files with 9 additions and 1 deletion.
diff --git a/include/motor-control/core/stepper_motor/motor_encoder_background_timer.hpp b/include/motor-control/core/stepper_motor/motor_encoder_background_timer.hpp
@@ -32,7 +32,7 @@ class BackgroundTimer {
     auto callback() -> void {
         auto critical_section =
             freertos_synchronization::FreeRTOSCriticalSectionRAII();
-        if (!_interrupt_handler.has_active_move()) {
+        if (!_interrupt_handler.is_moving()) {
             // Refresh the overflow counter if nothing else is doing it
             // and update position flag if needed
             std::ignore = _interrupt_handler.check_for_stall();

diff --git a/include/motor-control/core/stepper_motor/motor_interrupt_handler.hpp b/include/motor-control/core/stepper_motor/motor_interrupt_handler.hpp
@@ -586,6 +586,14 @@ class MotorInterruptHandler {
 
     auto has_active_move() -> bool { return _has_active_move.load(); }
 
+    /**
+     * @brief Returns whether the motor has an active move *and*
+     * the velocity is nonzero.
+     */
+    auto is_moving() -> bool {
+        return has_active_move() && buffered_move.velocity != 0;
+    }
+
   private:
     void update_hardware_step_tracker() {
         hardware.set_step_tracker(