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 -- GitLab