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disable PWM straight away on motor error

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Oskar Weigl
2018-10-07 13:12:37 -07:00
parent 5a22821bcd
commit 26eb4e7765
1 changed files with 2 additions and 0 deletions
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Firmware/MotorControl/motor.cpp
+2
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@@ -136,6 +136,8 @@ bool Motor::check_DRV_fault() {
void Motor::set_error(Motor::Error_t error){
error_ |= error;
axis_->error_ |= Axis::ERROR_MOTOR_FAILED;
safety_critical_disarm_motor_pwm(*this);
update_brake_current();
}
bool Motor::do_checks() {