fix(motion-control): Don't clear stepper-ok in stop request #813
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caila-marashaj
approved these changes
Nov 4, 2024
…r enable false we just want to turn the brake on for a bit then turn it back off to leave the motor enabled.
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Tested, still catches the 96 and does not block update motor position estimation |
mjhuff
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Nov 5, 2024
#16691) Closes RQA-3489 and RQA-3487 Although Opentrons/ot3-firmware#813 fixes the current behavior and unblocks gripper recovery, updating the position estimators isn't sufficiently accurate for post-recovery, protocol run commands. Instead, we should home everything minus the pipette plungers. There is some minor copy update on one view only per discussion w/ design.
sfoster1
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Nov 7, 2024
) * We don't need to clear the stepper ok field when we get a stop message. * Ok i was wrong about how this worked. We don't want to leave the motor enable false we just want to turn the brake on for a bit then turn it back off to leave the motor enabled. Co-authored-by: Ryan Howard <[email protected]>
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We added the disable motor in the stop request because that was the cause of some falling pipettes and we needed to turn the brake on. however disable clears the stepper ok flag and this isn't needed in this case.
So the new behavior is that it calls hardware disable_motor to turn the brake on, then it calls activate motor after to turn it back off and leaves the motor controller's 'enabled' flag true so the motion controller task has the option to call motor position update request.