Set WheelEncoder's faulted value when fault occurs

UCI-HyperXite · Jun 1, 2024 · 2ec760c · 2ec760c
1 parent f16c7af
commit 2ec760c
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Showing 2 changed files with 5 additions and 9 deletions.
diff --git a/pod-operation/src/components/wheel_encoder.rs b/pod-operation/src/components/wheel_encoder.rs
@@ -113,6 +113,7 @@ impl WheelEncoder {
 		let inc = state - self.last_state;
 
 		if inc == EncoderDiff::Undersampling {
+			self.faulted = true;
 			return Err("Wheel encoder faulted");
 		}
 
@@ -147,10 +148,6 @@ impl WheelEncoder {
 		self.faulted
 	}
 
-	pub fn is_faulted(&self) -> bool {
-		self.faulted
-	}
-
 	fn read_state(&self) -> EncoderState {
 		encode_state(self.pin_a.read(), self.pin_b.read())
 	}

diff --git a/pod-operation/src/state_machine.rs b/pod-operation/src/state_machine.rs
@@ -6,8 +6,7 @@ use serde_json::json;
 use socketioxide::extract::AckSender;
 use socketioxide::{extract::SocketRef, SocketIo};
 use tokio::sync::Mutex;
-
-use tracing::info;
+use tracing::{error, info};
 
 use crate::components::brakes::Brakes;
 use crate::components::gyro::Gyroscope;
@@ -138,8 +137,7 @@ impl StateMachine {
 				match encoder.measure() {
 					Ok(value) => value,
 					Err(e) => {
-						info!("Wheel encoder error: {:?}", e);
-						encoder.faulted();
+						error!("Wheel encoder error: {:?}", e);
 						continue;
 					}
 				}
@@ -261,7 +259,8 @@ impl StateMachine {
 		let encoder_value = self.wheel_encoder.lock().unwrap();
 		let distance = encoder_value.get_distance();
 		let velocity = encoder_value.get_velocity();
-		if encoder_value.is_faulted() {
+		if encoder_value.faulted() {
+			error!("Wheel encoder faulted");
 			self.io
 				.of("/control-station")
 				.unwrap()