Increase emergency stop time threshold.

futurexdesign · Jun 10, 2023 · d1249d1 · d1249d1
1 parent 20f29b0
commit d1249d1
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/src/motorControl.cpp b/src/motorControl.cpp
@@ -187,15 +187,17 @@ void MotorControl::exec() {
         if (motor->getCurrentSpeed() == 0) {
             state.isRunning = false;
             state.isStopping = false;
+            motor->setCurrentPosition(0, true); // Reset position
+            motor->setTargetPosition(0); // Reset position
 
             platform->enableMotor(false);
 
             if (stoppedCallback != nullptr) {
                 stoppedCallback(state.program);
             }
         } else {
-            // Give it 10 10 ticks to finish before stopping it manually
-            if (!state.isTesting && state.stopping_cnt == 10) {
+            // Give it 50 ticks to finish before stopping it manually
+            if (!state.isTesting && state.stopping_cnt == 50) {
                 motor->setCurrentPosition(0, true); // Reset position
                 motor->setTargetPosition(0); // Reset position