diff options
Diffstat (limited to 'robot')
| -rw-r--r-- | robot/mode_halt.c | 5 | ||||
| -rw-r--r-- | robot/modes.c | 2 |
2 files changed, 5 insertions, 2 deletions
diff --git a/robot/mode_halt.c b/robot/mode_halt.c index 88d6183..bc501a2 100644 --- a/robot/mode_halt.c +++ b/robot/mode_halt.c @@ -1,3 +1,6 @@ #include "mode_halt.h" +#include "orangutan_shim.h" -void w2_mode_halt() { return; } +void w2_mode_halt() { + set_motors(0, 0); +} diff --git a/robot/modes.c b/robot/modes.c index 600c9a1..4995d6f 100644 --- a/robot/modes.c +++ b/robot/modes.c @@ -46,7 +46,7 @@ void w2_modes_switch(w2_e_mode new_mode, bool replace) { // forward mode change to sercomm W2_CREATE_MSG_BIN(w2_s_cmd_mode_tx, msg, msg_bin); msg->opcode = W2_CMD_MODE | W2_CMDDIR_TX; - msg->mode = new_mode; + msg->mode = g_w2_mode_history[g_w2_mode_history_index]; w2_sercomm_append_msg(msg_bin); free(msg_bin); |