fix(motor-control): add a state to the motor control that maintains t…

…he difference between a never homed and a stopped gripper
Opentrons · Nov 15, 2024 · a9aa868 · a9aa868
1 parent 9b4907f
commit a9aa868
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Showing 3 changed files with 8 additions and 7 deletions.
diff --git a/include/motor-control/core/brushed_motor/brushed_motor_interrupt_handler.hpp b/include/motor-control/core/brushed_motor/brushed_motor_interrupt_handler.hpp
@@ -199,7 +199,7 @@ class BrushedMotorInterruptHandler {
             cancel_and_clear_moves(can::ids::ErrorCode::estop_detected);
         } else if (hardware.has_cancel_request()) {
             if (!hardware.get_stay_enabled()) {
-                hardware.set_motor_state(BrushedMotorState::UNHOMED);
+                hardware.set_motor_state(BrushedMotorState::STOPPED);
             }
             cancel_and_clear_moves(can::ids::ErrorCode::stop_requested,
                                    can::ids::ErrorSeverity::warning);

diff --git a/include/motor-control/core/types.hpp b/include/motor-control/core/types.hpp
@@ -44,5 +44,6 @@ enum class BrushedMotorState : uint8_t {
     UNHOMED = 0x0,
     FORCE_CONTROLLING_HOME = 0x1,
     FORCE_CONTROLLING = 0x2,
-    POSITION_CONTROLLING = 0x3
-};
+    POSITION_CONTROLLING = 0x3,
+    STOPPED = 0x4
+};
diff --git a/motor-control/tests/test_brushed_motor_interrupt_handler.cpp b/motor-control/tests/test_brushed_motor_interrupt_handler.cpp
@@ -526,10 +526,10 @@ SCENARIO("handler recovers from error state") {
             test_objs.hw.request_cancel();
             test_objs.handler.run_interrupt();
             THEN(
-                "motor state should become un-homed only if stay engaged is "
-                "falsy") {
+                "motor state should become stopped only if stay engaged is "
+                "false") {
                 REQUIRE(test_objs.hw.get_motor_state() ==
-                        (!stay_engaged ? BrushedMotorState::UNHOMED
+                        (!stay_engaged ? BrushedMotorState::STOPPED
                                        : og_motor_state));
             }
             THEN("a stop requested warning is issued") {
@@ -560,4 +560,4 @@ SCENARIO("handler recovers from error state") {
             }
         }
     }
-}
+}