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fix(motion-control): Don't clear stepper-ok in stop request (#813) #814

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Nov 7, 2024
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fix(motion-control): Don't clear stepper-ok in stop request (#813) #814

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3 changes: 2 additions & 1 deletion include/motor-control/core/stepper_motor/motion_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -189,7 +189,8 @@ class MotionController {
if (hardware.is_timer_interrupt_running()) {
hardware.request_cancel();
}
disable_motor();
hardware.deactivate_motor();
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do we need a delay here?

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no, this is about setting logical state. also it's already been tested and merged into main, this is a cherry-pick basically

hardware.activate_motor();
}

auto read_limit_switch() -> bool { return hardware.check_limit_switch(); }
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