From f4ec89b6a9ed55976ff41fbbd6699ac8ec7e4466 Mon Sep 17 00:00:00 2001
From: gabrielburnworth <gabrielburnworth@users.noreply.github.com>
Date: Mon, 31 Jul 2017 16:37:20 -0700
Subject: [PATCH] add estop on movement error parameter

---
 src/constants.ts                                  |  4 ++++
 .../components/hardware_settings/motors.tsx       | 15 +++++++++++++++
 2 files changed, 19 insertions(+)

diff --git a/src/constants.ts b/src/constants.ts
index 501d1ee21..6ec5d5422 100644
--- a/src/constants.ts
+++ b/src/constants.ts
@@ -69,6 +69,10 @@ export namespace ToolTips {
   export const MAX_MOVEMENT_RETRIES =
     `Number of times to retry a movement before stopping.`;
 
+  export const E_STOP_ON_MOV_ERR =
+    `Emergency stop if movement is not complete after the maximum number of
+    retries.`;
+
   export const MAX_SPEED =
     `Maximum travel speed after acceleration in motor steps per second.`;
 
diff --git a/src/devices/components/hardware_settings/motors.tsx b/src/devices/components/hardware_settings/motors.tsx
index b646ca196..21caae697 100644
--- a/src/devices/components/hardware_settings/motors.tsx
+++ b/src/devices/components/hardware_settings/motors.tsx
@@ -40,6 +40,21 @@ export function Motors({ dispatch, bot }: MotorsProps) {
             dispatch={dispatch} />
         </Col>
       </Row>
+      <Row>
+        <Col xs={6}>
+          <label>
+            {t("E-Stop on Movement Error")}
+          </label>
+          <SpacePanelToolTip tooltip={t(ToolTips.E_STOP_ON_MOV_ERR)} />
+        </Col>
+        <Col xs={2}>
+          <ToggleButton
+            toggleValue={mcu_params.param_e_stop_on_mov_err}
+            toggleAction={() =>
+              settingToggle("param_e_stop_on_mov_err", bot)}
+          />
+        </Col>
+      </Row>
       <NumericMCUInputGroup
         name={t("Max Speed (steps/s)")}
         tooltip={t(ToolTips.MAX_SPEED)}