fix(api): separate disengage and stop #13185
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@@ Coverage Diff @@
## internal-release_0.14.0 #13185 +/- ##
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- Coverage 72.51% 72.51% -0.01%
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Files 2394 2394
Lines 66052 66051 -1
Branches 7345 7345
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- Hits 47897 47896 -1
Misses 16407 16407
Partials 1748 1748
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| await self._backend.halt() | ||
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| def stop_modules(self) -> None: |
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What is this guy meant to do?
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This clears any future module tasks scheduled by the protocol
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Ah yes I see it now. The diff on github was being weird for me and I thought it was a free floating func
| await self.disengage_axes( | ||
| [ax for ax in Axis if self._backend.axis_is_present(ax)] | ||
| ) | ||
| await self.stop_motors() |
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Should the order be
await self.stop_motors()
await self.disengage_axes()
?
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The disengage request is used to immediately stop the motor while it's still in motion. This allows the halt request to behave similarly to an estop.
Overview
When we issue a StopRequest to the Flex axes, the following happens on the firmware side:
This has worked pretty well for immediately halting robot motion. But, this also means sometimes we're unexpectedly disengaging the motors when not necessary and leaving the axes in a non-movable state.
We can solve this by not disengaging the motors in the StopRequest task and let the DisableMotorRequest handles that. You'll need the changes in Opentrons/ot3-firmware#710 in order for this to work properly.