more stop

SoonerRobotics · May 29, 2024 · 582c76a · 582c76a
1 parent 66506c7
commit 582c76a
Showing 1 changed file with 7 additions and 0 deletions.
diff --git a/autonav_ws/src/autonav_serial/src/serial_node.py b/autonav_ws/src/autonav_serial/src/serial_node.py
@@ -83,6 +83,13 @@ def system_state_transition(self, old: SystemStateEnum, updated: SystemStateEnum
             except can.CanError:
                 pass
 
+        if old.state == SystemStateEnum.AUTONOMOUS and updated.state != SystemStateEnum.AUTONOMOUS:
+            can_msg = can.Message(arbitration_id=MOBILITY_STOP_ID, data=bytes([0]))
+            try:
+                self.can.send(can_msg)
+            except can.CanError:
+                pass
+
         if old.state == SystemStateEnum.MANUAL and updated.state == SystemStateEnum.AUTONOMOUS:
             self.zero_motors()