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TechnoTitans / TitanWare2024

Crescendo 2024
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Drivetrain stop when disabled #46

Closed Atman-Singh closed 5 months ago

Atman-Singh commented 6 months ago

closes #44

HarryXChen3 commented 6 months ago

This probably needs to be done differently, which is why it was never merged. We should not need to make a config call every time we enable/disable, they are blocking and take a non-negligible amount of time to send when compared to control requests (which I think the alternative solution uses?)

HarryXChen3 commented 6 months ago

The logic does not work like that 💀 - the easiest way to fix it would be to just pass false to the OverrideCoastDurNeutral param on the normal control request we use during disable, and pass true when enabled. I just haven't thought much about it and there isn't a naive way to do it nicely.

HarryXChen3 commented 5 months ago

Not sure why they were ever coast, actually. We're gonna leave them on brake mode at all times instead.