kill the recording of both sensors when a move finishes

Opentrons · Apr 9, 2024 · 191c971 · 191c971
1 parent 167a2f1
commit 191c971
Showing 1 changed file with 14 additions and 13 deletions.
diff --git a/include/motor-control/core/stepper_motor/motor_interrupt_handler.hpp b/include/motor-control/core/stepper_motor/motor_interrupt_handler.hpp
@@ -380,13 +380,12 @@ class MotorInterruptHandler {
         return tick_count < buffered_move.duration;
     }
 #ifdef USE_PRESSURE_MOVE
-    auto send_bind_message(can::ids::SensorId sensor) -> void {
+    auto send_bind_message(can::ids::SensorId sensor, uint8_t binding) -> void {
         auto msg = can::messages::BindSensorOutputRequest{
             .message_index = buffered_move.message_index,
             .sensor = can::ids::SensorType::pressure,
             .sensor_id = sensor,
-            .binding = static_cast<uint8_t>(0x3)  // sync and report
-        };
+            .binding = binding};
         send_to_pressure_sensor_queue(msg);
     }
 #endif
@@ -398,11 +397,12 @@ class MotorInterruptHandler {
                 hardware.get_encoder_pulses();
 #ifdef USE_PRESSURE_MOVE
             if (buffered_move.sensor_id != can::ids::SensorId::UNUSED) {
+                uint8_t binding = static_cast<uint8_t>(0x3);  // sync and report
                 if (buffered_move.sensor_id == can::ids::SensorId::BOTH) {
-                    send_bind_message(can::ids::SensorId::S0);
-                    send_bind_message(can::ids::SensorId::S1);
+                    send_bind_message(can::ids::SensorId::S0, binding);
+                    send_bind_message(can::ids::SensorId::S1, binding);
                 } else {
-                    send_bind_message(buffered_move.sensor_id);
+                    send_bind_message(buffered_move.sensor_id, binding);
                 }
             }
 #endif
@@ -495,13 +495,14 @@ class MotorInterruptHandler {
         build_and_send_ack(ack_msg_id);
 #ifdef USE_PRESSURE_MOVE
         if (buffered_move.sensor_id != can::ids::SensorId::UNUSED) {
-            auto stop_msg = can::messages::BindSensorOutputRequest{
-                .message_index = buffered_move.message_index,
-                .sensor = can::ids::SensorType::pressure,
-                .sensor_id = buffered_move.sensor_id,
-                .binding =
-                    static_cast<uint8_t>(can::ids::SensorOutputBinding::sync)};
-            send_to_pressure_sensor_queue(stop_msg);
+            uint8_t binding = static_cast<uint8_t>(
+                can::ids::SensorOutputBinding::sync);
+            if (buffered_move.sensor_id == can::ids::SensorId::BOTH) {
+                send_bind_message(can::ids::SensorId::S0, binding);
+                send_bind_message(can::ids::SensorId::S1, binding);
+            } else {
+                send_bind_message(buffered_move.sensor_id, binding);
+            }
         }
 #endif
         set_buffered_move(MotorMoveMessage{});