this is messy but u can use if u want

pod-operation/src/components/wheel_encoder.rs

@@ -67,6 +67,7 @@ pub struct WheelEncoder {
 	last_state: EncoderState,
 	last_time: Instant,
 	velocity: f32,
+	faulted: bool,
 }
 
 impl WheelEncoder {
@@ -102,6 +103,7 @@ impl WheelEncoder {
 			pin_a,
 			pin_b,
 			velocity: 0.0,
+			faulted: false,
 		}
 	}
 
@@ -141,6 +143,14 @@ impl WheelEncoder {
 		f32::from(self.counter) * DISTANCE_PER_COUNT
 	}
 
+	pub fn faulted(&self) -> bool {
+		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())
 	}

pod-operation/src/state_machine.rs

@@ -139,6 +139,7 @@ impl StateMachine {
 					Ok(value) => value,
 					Err(e) => {
 						info!("Wheel encoder error: {:?}", e);
+						encoder.faulted();
 						continue;
 					}
 				}
@@ -260,6 +261,14 @@ 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() {
+			self.io
+				.of("/control-station")
+				.unwrap()
+				.emit("fault", ("Wheel encoder faulted."))
+				.ok();
+			return State::Faulted;
+		}
 		drop(encoder_value);
 
 		let full_json = json!({