Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

Diff: errors.cpp

Revision:
203:cb2a3ea31dce
Parent:
194:05e119bc5a78
Child:
204:74714d52a936
--- a/errors.cpp	Mon Feb 12 01:13:52 2018 +0000
+++ b/errors.cpp	Mon Feb 12 03:41:12 2018 +0000
@@ -35,6 +35,32 @@
     return control.torque_percent > 0.01f || fabsf(read.w) > _W_SAFE;
 }
 
+bool mode_enables_logging() {
+    switch(BREMS_mode) {
+    case MODE_RUN:
+        return true;
+    case MODE_CFG:
+    case MODE_ZERO:
+    case MODE_CHR:
+        return false;
+    default:
+        return false;
+    }
+}
+
+bool mode_enables_output() {
+    switch(BREMS_mode) {
+    case MODE_RUN:
+    case MODE_ZERO:
+    case MODE_CHR:
+        return true;
+    case MODE_CFG:
+        return false;
+    default:
+        return false;
+    }
+}
+
 #define _seterr(x) errors |= (1 << x)
 #define _unseterr(x) errors &= ~(1 << x)
 #define _upderr(x) _unseterr(x) : _seterr(x)