stop cleaner motor if job aborted

3 files changed, 12 insertions, 0 deletions

diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c
index 0ae017c13..59b9a56be 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_Cleaning.c
@@ -107,6 +107,16 @@ uint32_t IDS_Cleaning_Move_Actuators()
    CleaningStageCounter++;
    return OK;
 }
+
+uint32_t IDS_Cleaning_stop_cleaner_motor()
+{
+    TimerMotors_t MotorId = HARDWARE_MOTOR_TYPE__MOTO_DH_LID;
+    if (Head_Type != HEAD_TYPE_ARC)
+       return OK;
+
+    MotorStop(MotorId,Soft_Stop);
+    return OK;
+}
 /*uint32_t IDS_Cleaning_Move_Rockers (int LeftRockerSpeed,int RightRockerSpeed)
 {
     uint32_t status = OK;
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
index 57d3ff5e2..0a8060496 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_ex.h
@@ -118,5 +118,6 @@ void DispenserDataRequestFunc(MessageContainer* requestContainer);
 void IDS_Start_Pid_Testing(int DispenserId);
 void IDS_Stop_Pid_Testing(int DispenserId);
 uint32_t cleaningMotorCBFunction (uint32_t deviceID, uint32_t Parameter1);
+uint32_t IDS_Cleaning_stop_cleaner_motor();
 
 #endif /* MODULES_IDS_IDS_EX_H_ */
diff --git a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
index 367b36e38..4fd273977 100644
--- a/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
+++ b/Software/Embedded_SW/Embedded/Modules/IDS/IDS_print.c
@@ -1940,6 +1940,7 @@ uint32_t IDSSegmentState(void *SegmentDetails, int SegmentId)
          IDS_Cleaning_Stop_Cleaning_Solution(NULL);
 	IDS_StopLubrication();
 	Init_CleaningStageCounter();//set the counter before relocating
+	IDS_Cleaning_stop_cleaner_motor();
 	HeadCard_Actuators_Relocate();
 	return OK;
 }