fix(motor control): Use FreeRTOS delay instead of hardware delay #780
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Whoa, nice find. How did this cause a firmware crash? Some kind of watchdog timeout? |
It seems like a memory fault after the delay blocked the motor interrupt a bunch of times. |
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We recently started adding a delay between engaging a head motor and starting the execution of a move. We were using a HAL delay to do this, and it turns out that this blocks FreeRTOS's task handling, and in certain edge cases causes a firmware crash.
We should instead use FreeRTOS's built-in
vTaskDelayhttps://opentrons.atlassian.net/browse/RQA-2745