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

) * We don't need to clear the stepper ok field when we get a stop message. * Ok i was wrong about how this worked. We don't want to leave the motor enable false we just want to turn the brake on for a bit then turn it back off to leave the motor enabled. Co-authored-by: Ryan Howard <[email protected]>
Opentrons · Nov 7, 2024 · 09f9871 · 09f9871
1 parent 744fb80
commit 09f9871
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/include/motor-control/core/stepper_motor/motion_controller.hpp b/include/motor-control/core/stepper_motor/motion_controller.hpp
@@ -189,7 +189,8 @@ class MotionController {
         if (hardware.is_timer_interrupt_running()) {
             hardware.request_cancel();
         }
-        disable_motor();
+        hardware.deactivate_motor();
+        hardware.activate_motor();
     }
 
     auto read_limit_switch() -> bool { return hardware.check_limit_switch(); }