clean up

Opentrons · Oct 12, 2023 · 16baac0 · 16baac0
1 parent b8afae2
commit 16baac0
Showing 1 changed file with 9 additions and 14 deletions.
diff --git a/include/motor-control/core/tasks/motion_controller_task.hpp b/include/motor-control/core/tasks/motion_controller_task.hpp
@@ -148,26 +148,21 @@ class MotionControllerMessageHandler {
     // cancel_and_clear_moves(can::ids::ErrorCode::motor_driver_error)?
     void handle(const can::messages::MotorDriverErrorEncountered& m) {
         // check if gpio is low before making controller calls
-        //if (!driver_error_handled()) {
-            controller.stop(can::ids::ErrorSeverity::unrecoverable);
-            if (!controller.is_timer_interrupt_running()){
-                can_client.send_can_message(can::ids::NodeId::host,
-                    can::messages::ErrorMessage{.message_index = m.message_index,
-                                                .severity = can::ids::ErrorSeverity::unrecoverable,
-                                                .error_code = can::ids::ErrorCode::hardware});
-                driver_client.send_motor_driver_queue(
-                    can::messages::ReadMotorDriverErrorStatus{.message_index = m.message_index});
-            }
-        //}
+        controller.stop(can::ids::ErrorSeverity::unrecoverable);
+        if (!controller.is_timer_interrupt_running()){
+            can_client.send_can_message(can::ids::NodeId::host,
+                can::messages::ErrorMessage{.message_index = m.message_index,
+                                            .severity = can::ids::ErrorSeverity::unrecoverable,
+                                            .error_code = can::ids::ErrorCode::hardware});
+            driver_client.send_motor_driver_queue(
+                can::messages::ReadMotorDriverErrorStatus{.message_index = m.message_index});
+        }
     }
 
-    bool driver_error_handled() { return driver_error_handled_flag.exchange(true); }
-
     MotorControllerType& controller;
     CanClient& can_client;
     UsageClient& usage_client;
     DriverClient& driver_client;
-    std::atomic<bool> driver_error_handled_flag = false;
 };
 
 /**