From 1ffb311a62e549ae8d793defc78c3323b6e4c162 Mon Sep 17 00:00:00 2001
From: Alise Au <20424172+ahiuchingau@users.noreply.github.com>
Date: Wed, 8 Nov 2023 14:16:19 -0500
Subject: [PATCH 1/3] fix(head): engage head ebrake at boot (#732)

---
 head/firmware/motor_hardware_rev1.c | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/head/firmware/motor_hardware_rev1.c b/head/firmware/motor_hardware_rev1.c
index 1b3f49d43..478decc79 100644
--- a/head/firmware/motor_hardware_rev1.c
+++ b/head/firmware/motor_hardware_rev1.c
@@ -20,9 +20,7 @@ void initialize_rev_specific_pins() {
     HAL_GPIO_Init(GPIOC,  // NOLINT(cppcoreguidelines-pro-type-cstyle-cast)
                   &GPIO_InitStruct);
 
-    // TODO: Handle brakes better, this just disengages
-    // them at boot
-    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_5 | GPIO_PIN_0, GPIO_PIN_SET);
+    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_5 | GPIO_PIN_0, GPIO_PIN_RESET);
 
     HAL_GPIO_WritePin(GPIOB, GPIO_PIN_11, GPIO_PIN_RESET);
     HAL_GPIO_WritePin(GPIOC, GPIO_PIN_4, GPIO_PIN_RESET);

From f9f88854eefb467ed22850839425109881c256c3 Mon Sep 17 00:00:00 2001
From: Alise Au <20424172+ahiuchingau@users.noreply.github.com>
Date: Wed, 15 Nov 2023 17:00:07 -0500
Subject: [PATCH 2/3] fix(motor-control): z stage falls after being disengaged
 (#733)

Adding a delay before disengaging the motor
---
 include/motor-control/firmware/motor_control_hardware.h | 1 +
 motor-control/firmware/motor_control_hardware.c         | 6 ++++++
 motor-control/firmware/stepper_motor/motor_hardware.cpp | 1 +
 3 files changed, 8 insertions(+)

diff --git a/include/motor-control/firmware/motor_control_hardware.h b/include/motor-control/firmware/motor_control_hardware.h
index a9b0ca4f1..2cdcc123d 100644
--- a/include/motor-control/firmware/motor_control_hardware.h
+++ b/include/motor-control/firmware/motor_control_hardware.h
@@ -24,6 +24,7 @@ uint16_t motor_hardware_encoder_pulse_count(void* encoder_handle);
 uint16_t motor_hardware_encoder_pulse_count_with_overflow(void* encoder_handle, int8_t *overflows);
 void motor_hardware_reset_encoder_count(void* encoder_handle, uint16_t reset_value);
 uint16_t motor_hardware_get_stopwatch_pulses(void* stopwatch_handle, uint8_t clear);
+void motor_hardware_delay(uint32_t delay);
 #ifdef __cplusplus
 }  // extern "C"
 #endif  // __cplusplus
diff --git a/motor-control/firmware/motor_control_hardware.c b/motor-control/firmware/motor_control_hardware.c
index bf13b9043..d4cdb534a 100644
--- a/motor-control/firmware/motor_control_hardware.c
+++ b/motor-control/firmware/motor_control_hardware.c
@@ -7,6 +7,7 @@
 #include "FreeRTOS.h"
 #include "platform_specific_hal_conf.h"
 #include "stm32g4xx_hal_tim.h"
+#include "stm32g4xx_hal.h"
 #include "task.h"
 
 HAL_StatusTypeDef custom_stop_pwm_it(TIM_HandleTypeDef* htim,
@@ -131,3 +132,8 @@ uint16_t motor_hardware_get_stopwatch_pulses(void* stopwatch_handle, uint8_t cle
     return count;
 }
 
+void motor_hardware_delay(uint32_t delay) {
+    HAL_Delay(delay);
+}
+
+
diff --git a/motor-control/firmware/stepper_motor/motor_hardware.cpp b/motor-control/firmware/stepper_motor/motor_hardware.cpp
index 9b4d38151..ec422b22b 100644
--- a/motor-control/firmware/stepper_motor/motor_hardware.cpp
+++ b/motor-control/firmware/stepper_motor/motor_hardware.cpp
@@ -24,6 +24,7 @@ void MotorHardware::deactivate_motor() {
     if (pins.ebrake.has_value()) {
         gpio::set(pins.ebrake.value());
     }
+    motor_hardware_delay(10);
     gpio::reset(pins.enable);
 }
 void MotorHardware::start_timer_interrupt() {

From bf6121f9d48e26e4963458cbee5ac397e0361475 Mon Sep 17 00:00:00 2001
From: ahiuchingau <20424172+ahiuchingau@users.noreply.github.com>
Date: Mon, 27 Nov 2023 12:34:44 -0500
Subject: [PATCH 3/3] only adds delay if there is an ebrake

---
 motor-control/firmware/stepper_motor/motor_hardware.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/motor-control/firmware/stepper_motor/motor_hardware.cpp b/motor-control/firmware/stepper_motor/motor_hardware.cpp
index ec422b22b..a28dcef33 100644
--- a/motor-control/firmware/stepper_motor/motor_hardware.cpp
+++ b/motor-control/firmware/stepper_motor/motor_hardware.cpp
@@ -23,8 +23,8 @@ void MotorHardware::activate_motor() {
 void MotorHardware::deactivate_motor() {
     if (pins.ebrake.has_value()) {
         gpio::set(pins.ebrake.value());
+        motor_hardware_delay(10);
     }
-    motor_hardware_delay(10);
     gpio::reset(pins.enable);
 }
 void MotorHardware::start_timer_interrupt() {