From 0ddf452a2e5bd37393bc11204ca921872084f278 Mon Sep 17 00:00:00 2001
From: Jake <jake.read@cba.mit.edu>
Date: Wed, 10 Aug 2022 22:37:26 -0400
Subject: [PATCH] flash on halt

---
 firmware/axl-stepper/src/main.cpp | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/firmware/axl-stepper/src/main.cpp b/firmware/axl-stepper/src/main.cpp
index abb8c08..a35c8e1 100644
--- a/firmware/axl-stepper/src/main.cpp
+++ b/firmware/axl-stepper/src/main.cpp
@@ -12,7 +12,7 @@
 #include "osape_arduino/vp_arduinoSerial.h"
 #include "osape_ucbus/vb_ucBusDrop.h"
 
-OSAP osap("axl-stepper_y");
+OSAP osap("axl-stepper_x");
 
 VPort_ArduinoSerial vpUSBSerial(&osap, "arduinoUSBSerial", &Serial);
 
@@ -83,8 +83,12 @@ void updateStatesEP(void){
 
 // -------------------------------------------------------- 3: Halt
 
+uint32_t haltLightOnTime = 0;
+
 EP_ONDATA_RESPONSES onHaltData(uint8_t* data, uint16_t len){
   axl_halt();
+  ERRLIGHT_ON;
+  haltLightOnTime = millis();
   return EP_ONDATA_REJECT;
 }
 
@@ -222,6 +226,9 @@ void loop() {
     updateStatesEP();
     //axl_printHomeState();
   }
+  if(haltLightOnTime + 250 < millis()){
+    ERRLIGHT_OFF;
+  }
 }
 
 // -------------------------------------------------------- Small-Time Ops 
-- 
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