fix(motor-control): improve brake delay time (#821)

* delay 100ms instead of 20ms for the brake

* this is redundant techincally but is more correct incease we change timing later.

Author: ryanthecoder

motor-control/firmware/motor_control_hardware.c

@@ -133,7 +133,8 @@ uint16_t motor_hardware_get_stopwatch_pulses(void* stopwatch_handle, uint8_t cle
 }
 
 void motor_hardware_delay(uint32_t delay) {
-    vTaskDelay(delay);
+    const TickType_t xDelay = delay * portTICK_PERIOD_MS;
+    vTaskDelay(xDelay);
 }
 
 

motor-control/firmware/stepper_motor/motor_hardware.cpp

@@ -18,16 +18,18 @@ void MotorHardware::activate_motor() {
     gpio::set(pins.enable);
     if (pins.ebrake.has_value()) {
         // allow time for the motor current to stablize before releasing the
-        // brake
+        // brake spec is < 1ms so this is plenty
         motor_hardware_delay(20);
         gpio::reset(pins.ebrake.value());
-        motor_hardware_delay(20);
+        // Brake spec is 50ms to engage/disengage
+        motor_hardware_delay(100);
     }
 }
 void MotorHardware::deactivate_motor() {
     if (pins.ebrake.has_value()) {
         gpio::set(pins.ebrake.value());
-        motor_hardware_delay(20);
+        // Brake spec is 50ms to engage/disengage
+        motor_hardware_delay(100);
     }
     gpio::reset(pins.enable);
 }