fix(motor-control): z stage falls after being disengaged (#733)

Adding a delay before disengaging the motor
Opentrons · Nov 27, 2023 · f9f8885 · f9f8885
1 parent 1ffb311
commit f9f8885
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Showing 3 changed files with 8 additions and 0 deletions.
diff --git a/include/motor-control/firmware/motor_control_hardware.h b/include/motor-control/firmware/motor_control_hardware.h
@@ -24,6 +24,7 @@ uint16_t motor_hardware_encoder_pulse_count(void* encoder_handle);
 uint16_t motor_hardware_encoder_pulse_count_with_overflow(void* encoder_handle, int8_t *overflows);
 void motor_hardware_reset_encoder_count(void* encoder_handle, uint16_t reset_value);
 uint16_t motor_hardware_get_stopwatch_pulses(void* stopwatch_handle, uint8_t clear);
+void motor_hardware_delay(uint32_t delay);
 #ifdef __cplusplus
 }  // extern "C"
 #endif  // __cplusplus

diff --git a/motor-control/firmware/motor_control_hardware.c b/motor-control/firmware/motor_control_hardware.c
@@ -7,6 +7,7 @@
 #include "FreeRTOS.h"
 #include "platform_specific_hal_conf.h"
 #include "stm32g4xx_hal_tim.h"
+#include "stm32g4xx_hal.h"
 #include "task.h"
 
 HAL_StatusTypeDef custom_stop_pwm_it(TIM_HandleTypeDef* htim,
@@ -131,3 +132,8 @@ uint16_t motor_hardware_get_stopwatch_pulses(void* stopwatch_handle, uint8_t cle
     return count;
 }
 
+void motor_hardware_delay(uint32_t delay) {
+    HAL_Delay(delay);
+}
+
+
diff --git a/motor-control/firmware/stepper_motor/motor_hardware.cpp b/motor-control/firmware/stepper_motor/motor_hardware.cpp
@@ -24,6 +24,7 @@ void MotorHardware::deactivate_motor() {
     if (pins.ebrake.has_value()) {
         gpio::set(pins.ebrake.value());
     }
+    motor_hardware_delay(10);
     gpio::reset(pins.enable);
 }
 void MotorHardware::start_timer_interrupt() {