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Make sure motion control returns to main thread before stopping #490

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Merged
urfeex merged 2 commits into from
Apr 24, 2026
Merged

Make sure motion control returns to main thread before stopping #490

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a377056
Make sure motion control returns to main thread before stopping
urfeex Apr 21, 2026
7a8334d
Update external_control.urscript
urfeex Apr 22, 2026
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7 changes: 7 additions & 0 deletions resources/external_control.urscript
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Original file line number Diff line number Diff line change
Expand Up @@ -1083,6 +1083,13 @@ while control_mode > MODE_STOPPED:
end
else:
textmsg("Socket timed out waiting for command on reverse_socket. The script will exit now.")
if control_mode == MODE_FREEDRIVE:
end_freedrive_mode()
end
control_mode = MODE_STOPPED
kill thread_move
kill thread_trajectory
kill thread_script_commands
stopj(STOPJ_ACCELERATION)
halt
end
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