don't set bad state unless it's a homing failure

Opentrons · Feb 6, 2025 · 998f653 · 998f653
1 parent b3cdebc
commit 998f653
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Showing 2 changed files with 5 additions and 2 deletions.
diff --git a/include/motor-control/core/stepper_motor/motor_interrupt_handler.hpp b/include/motor-control/core/stepper_motor/motor_interrupt_handler.hpp
@@ -547,7 +547,10 @@ class MotorInterruptHandler {
         _has_active_move = false;
         tick_count = 0x0;
         stall_handled = false;
-        if (buffered_move.stop_condition != 0 &&
+        if ((buffered_move.check_stop_condition(
+                 MoveStopCondition::limit_switch_backoff) ||
+             buffered_move.check_stop_condition(
+                 MoveStopCondition::limit_switch)) &&
             ack_msg_id == AckMessageId::complete_without_condition) {
             in_good_state = false;
         }

diff --git a/motor-control/tests/test_motor_stall_handling.cpp b/motor-control/tests/test_motor_stall_handling.cpp
@@ -386,7 +386,7 @@ SCENARIO("motor handler stall detection") {
                 }
                 THEN("an error is sent.") {
                     // should be 2 but idk why this runs more than once
-                    REQUIRE(test_objs.reporter.messages.size() == 3);
+                    REQUIRE(test_objs.reporter.messages.size() == 2);
                     REQUIRE(!test_objs.hw.position_flags.check_flag(
                         Flags::stepper_position_ok));
                 }