fix(gripper): add stopped state #816
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…he difference between a never homed and a stopped gripper
sfoster1
approved these changes
Nov 15, 2024
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This fixes an error that happens during error recovery where the gripper needs to re-home because the error flow sends a stop request.
This fixes that by adding a new state called stop, and if the firmware responds with STOPPED instead of UNHOMED then we know we can just continue on without re-homing.
The gripper will still go into a UNHOMED state during the following:
Labware droped
Collision
Estop