Fix Brake Latching

JLefebvre55 · JLefebvre55 · commit e7d83b95e8c4 · 2022-06-08T16:56:59.000-04:00
diff --git a/src/actuators/brakes.cc b/src/actuators/brakes.cc
@@ -15,7 +15,7 @@ errorlevel_t Brakes::initialize(void) {
 }
 
 errorlevel_t Brakes::set(float target) {
-  engaged |= (target != 0); //If engaged is true already, target doesn't matter (stay engaged)
-  digitalWrite(pin, !engaged); // Engaged = digital low
+  engaged |= ((int)target > 0); // Engages if target high, latching
+  digitalWrite(pin, !engaged);  // Engage (digital out LOW)
   return ERR_NONE;
 }

Original file line number	Diff line number	Diff line change
`@@ -15,7 +15,7 @@ errorlevel_t Brakes::initialize(void) {`
`15`	`15`	`}`
`16`	`16`
`17`	`17`	`errorlevel_t Brakes::set(float target) {`
`18`		`- engaged \|= (target != 0); //If engaged is true already, target doesn't matter (stay engaged)`
`19`		`- digitalWrite(pin, !engaged); // Engaged = digital low`
	`18`	`+ engaged \|= ((int)target > 0); // Engages if target high, latching`
	`19`	`+ digitalWrite(pin, !engaged); // Engage (digital out LOW)`
`20`	`20`	`return ERR_NONE;`
`21`	`21`	`}`