delay before ebrake gets disengaged, not after

Opentrons · Sep 23, 2024 · 8b343af · 8b343af
1 parent 4169f60
commit 8b343af
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/motor-control/firmware/stepper_motor/motor_hardware.cpp b/motor-control/firmware/stepper_motor/motor_hardware.cpp
@@ -17,8 +17,10 @@ void MotorHardware::negative_direction() { gpio::reset(pins.direction); }
 void MotorHardware::activate_motor() {
     gpio::set(pins.enable);
     if (pins.ebrake.has_value()) {
-        gpio::reset(pins.ebrake.value());
+        // allow time for the motor current to stablize before releasing the
+        // brake
         motor_hardware_delay(20);
+        gpio::reset(pins.ebrake.value());
     }
 }
 void MotorHardware::deactivate_motor() {