debug change

Opentrons · Nov 14, 2023 · f3bd1d3 · f3bd1d3
1 parent a1f2ec2
commit f3bd1d3
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/include/motor-control/core/tasks/motion_controller_task.hpp b/include/motor-control/core/tasks/motion_controller_task.hpp
@@ -228,9 +228,9 @@ class MotionControllerMessageHandler {
                     .severity = can::ids::ErrorSeverity::unrecoverable,
                     .error_code =
                         can::ids::ErrorCode::motor_driver_error_detected}); // delete
-        vTaskDelay(20); // Need to act immediately?! Just decrease this?
+        vTaskDelay(200); // Need to act immediately?! Just decrease this?
         debounce_count++;
-        if (debounce_count > 50) {
+        if (debounce_count > 10) { // send msg immediately, reset flags after delay?!
             if (controller.read_tmc_diag0()) {
                 handle_message(
                     can::messages::MotorDriverErrorEncountered{.message_index = m.message_index});