From 26eb4e776506a58ee51e20f9555c23161ae73a4c Mon Sep 17 00:00:00 2001
From: Oskar Weigl <oskar.weigl@gmail.com>
Date: Sun, 7 Oct 2018 13:12:37 -0700
Subject: [PATCH] disable PWM straight away on motor error

---
 Firmware/MotorControl/motor.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/Firmware/MotorControl/motor.cpp b/Firmware/MotorControl/motor.cpp
index ee71c98a..230f7f64 100644
--- a/Firmware/MotorControl/motor.cpp
+++ b/Firmware/MotorControl/motor.cpp
@@ -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() {