feat: reset Fault on error Hook and then reenables before recovery

Instead of using prepare, which does a bunch of stuff, we took the
important bit from it and create the resetFault method, toggles the
reset fault bit on and off. Also, after it was reset the controller must
go through the enable control method before recovery.

tasks/Task.cpp

@@ -198,11 +198,12 @@ void Task::errorHook()
     publishFault();
 
     // Try to reset the faults
-    m_driver->prepare();
+    m_driver->resetFault();
     // Verify if the controller status is not in FAULT state
     auto state = readAndPublishControllerStates();
     if (state.inverter_status != STATUS_FAULT &&
         state.inverter_status != STATUS_UNDERVOLTAGE) {
+        m_driver->enable();
         recover();
     }