From 6e0c84d942d00095c76012f3617b1355b2c4ec72 Mon Sep 17 00:00:00 2001 From: Joe Ross Date: Thu, 27 Nov 2014 11:31:00 -0800 Subject: [PATCH] Feed motor safety when StopMotor is called. Fixes artf1687 on FirstForge. Change-Id: I75c1b30c28193c1e5ed5f6fad502ab88ebc345fa --- wpilibc/wpilibC++Devices/src/RobotDrive.cpp | 1 + .../src/main/java/edu/wpi/first/wpilibj/RobotDrive.java | 1 + 2 files changed, 2 insertions(+) diff --git a/wpilibc/wpilibC++Devices/src/RobotDrive.cpp b/wpilibc/wpilibC++Devices/src/RobotDrive.cpp index ab6ccddb49..ffa8b31cb7 100644 --- a/wpilibc/wpilibC++Devices/src/RobotDrive.cpp +++ b/wpilibc/wpilibC++Devices/src/RobotDrive.cpp @@ -735,4 +735,5 @@ void RobotDrive::StopMotor() if (m_frontRightMotor != NULL) m_frontRightMotor->Disable(); if (m_rearLeftMotor != NULL) m_rearLeftMotor->Disable(); if (m_rearRightMotor != NULL) m_rearRightMotor->Disable(); + m_safetyHelper->Feed(); } diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/RobotDrive.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/RobotDrive.java index 1cefc9b79b..aefdd272d0 100644 --- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/RobotDrive.java +++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/RobotDrive.java @@ -739,6 +739,7 @@ public class RobotDrive implements MotorSafety { if (m_rearRightMotor != null) { m_rearRightMotor.set(0.0); } + if (m_safetyHelper != null) m_safetyHelper.feed(); } private void setupMotorSafety() {