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Opentrons · Dec 11, 2023 · ac8662d · ac8662d
1 parent 943e209
commit ac8662d
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Showing 3 changed files with 5 additions and 4 deletions.
diff --git a/include/motor-control/core/brushed_motor/brushed_motion_controller.hpp b/include/motor-control/core/brushed_motor/brushed_motion_controller.hpp
@@ -131,7 +131,8 @@ class MotionController {
                                  S15Q16_RADIX));
     }
 
-    void set_idle_holdoff(const can::messages::SetGripperJawHoldoffRequest& can_msg) {
+    void set_idle_holdoff(
+        const can::messages::SetGripperJawHoldoffRequest& can_msg) {
         error_config.update_idle_holdoff_ticks(can_msg.holdoff_ticks);
     }
 

diff --git a/include/motor-control/core/tasks/brushed_motion_controller_task.hpp b/include/motor-control/core/tasks/brushed_motion_controller_task.hpp
@@ -133,8 +133,7 @@ class MotionControllerMessageHandler {
     void handle(const can::messages::GripperJawHoldoffRequest& m) {
         auto ticks = controller.get_idle_holdoff();
         can::messages::GripperJawHoldoffResponse msg{
-                .message_index = m.message_index,
-                .holdoff_ticks = ticks};
+            .message_index = m.message_index, .holdoff_ticks = ticks};
         can_client.send_can_message(can::ids::NodeId::host, msg);
     }
 

diff --git a/include/motor-control/core/tasks/messages.hpp b/include/motor-control/core/tasks/messages.hpp
@@ -46,7 +46,8 @@ using BrushedMotionControllerTaskMessage = std::variant<
     can::messages::ReadLimitSwitchRequest, can::messages::MotorPositionRequest,
     can::messages::SetGripperErrorToleranceRequest,
     can::messages::GetMotorUsageRequest, can::messages::GripperJawStateRequest,
-    can::messages::SetGripperJawHoldoffRequest, can::messages::GripperJawHoldoffRequest>;
+    can::messages::SetGripperJawHoldoffRequest,
+    can::messages::GripperJawHoldoffRequest>;
 
 using BrushedMoveGroupTaskMessage = std::variant<
     std::monostate, can::messages::ClearAllMoveGroupsRequest,