improve soft estop

zauberzeug · Aug 23, 2023 · 7f63145 · 7f63145
1 parent 7c1479e
commit 7f63145
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/rosys/hardware/estop.py b/rosys/hardware/estop.py
@@ -45,7 +45,7 @@ def __init__(self, robot_brain: RobotBrain, *, name: str = 'estop', pins: dict[s
 
     async def set_soft_estop(self, active: bool) -> None:
         await super().set_soft_estop(active)
-        await self.robot_brain.send(f'en3.{"off" if active else "on"}()')
+        await self.robot_brain.send(f'en3.level({"false" if active else "true"})')
 
     def handle_core_output(self, time: float, words: list[str]) -> None:
         active = any(int(words.pop(0)) == 0 for _ in self.pins)