Had to bring back estop on a failed probe

2021-11-03 18:21:40 -07:00
parent 3babab17f2
commit ffeedaf4b2
2 changed files with 4 additions and 3 deletions
--- a/src/py/bbctrl/Mach.py
+++ b/src/py/bbctrl/Mach.py
@@ -134,9 +134,10 @@ class Mach(Comm):

    
    def process_log(self, log):
-        # Detect when a probe has failed, and reset the planner
+        # When a probe has failed, we have to e-stop or things
+        # end up in a bad state, where positions and offsets are incorrect
        if log['msg'] == 'Switch not found':
-            self.planner.reset(stop = False, resetState = False)
+            self.estop()


    def _update(self, update):