do not engage solenoid during close lid and engage solenoid before op…

…ening lid
Opentrons · Oct 24, 2024 · e323115 · e323115
1 parent 5ddd0be
commit e323115
Showing 1 changed file with 2 additions and 7 deletions.
diff --git a/stm32-modules/include/thermocycler-gen2/thermocycler-gen2/motor_task.hpp b/stm32-modules/include/thermocycler-gen2/thermocycler-gen2/motor_task.hpp
@@ -972,6 +972,8 @@ class MotorTask {
         if (_lid_stepper_state.status != LidStepperState::Status::IDLE) {
             return false;
         }
+        // First release the latch
+        policy.lid_solenoid_engage();
         if (policy.lid_read_closed_switch()) {
             return start_latch_release_overdrive(response_id, policy);
         }
@@ -998,8 +1000,6 @@ class MotorTask {
     template <MotorExecutionPolicy Policy>
     auto start_latch_release_backoff(uint32_t response_id, Policy& policy)
         -> bool {
-        // First release the latch
-        policy.lid_solenoid_engage();
         std::ignore = policy.lid_stepper_set_rpm(
             LidStepperState::LID_DEFAULT_VELOCITY_RPM);
         // Now start a lid motor movement to the endstop
@@ -1019,8 +1019,6 @@ class MotorTask {
         if (_lid_stepper_state.status != LidStepperState::Status::IDLE) {
             return false;
         }
-        // First release the latch
-        policy.lid_solenoid_engage();
         // Update velocity for this movement
         std::ignore = policy.lid_stepper_set_rpm(
             LidStepperState::LID_DEFAULT_VELOCITY_RPM);
@@ -1404,9 +1402,6 @@ class MotorTask {
                         _task_registry->comms->get_message_queue().try_send(
                             messages::HostCommsMessage(response)));
                 } else {
-                    // Now that the lid is at the closed position,
-                    // the solenoid can be safely turned off
-                    policy.lid_solenoid_disengage();
                     // Turn off lid stepper current
                     policy.lid_stepper_set_dac(LID_STEPPER_HOLD_CURRENT);
                     // Movement is done