From 8b343afb8c6ce373172ac3e2332356ee8c0b0240 Mon Sep 17 00:00:00 2001
From: ahiuchingau <20424172+ahiuchingau@users.noreply.github.com>
Date: Mon, 23 Sep 2024 13:06:11 -0400
Subject: [PATCH] delay before ebrake gets disengaged, not after

---
 motor-control/firmware/stepper_motor/motor_hardware.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/motor-control/firmware/stepper_motor/motor_hardware.cpp b/motor-control/firmware/stepper_motor/motor_hardware.cpp
index 7cee57b34..e6b657ebd 100644
--- 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() {