+
+ /* urgent case: stop power on blocking */
+ if (cobboard.flags & DO_ERRBLOCKING) {
+ if (bd_get(&cobboard.left_spickle.bd) ||
+ bd_get(&cobboard.right_spickle.bd) ||
+ bd_get(&cobboard.shovel.bd)) {
+ printf_P(PSTR("MOTOR BLOCKED STOP ALL\r\n"));
+ cobboard.flags &= ~(DO_POWER | DO_ERRBLOCKING);
+ }
+ }