display fixes

SoonerRobotics · May 29, 2024 · 5935912 · 5935912
1 parent 582c76a
commit 5935912
Showing 1 changed file with 2 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
@@ -77,13 +77,15 @@ def system_state_transition(self, old: SystemStateEnum, updated: SystemStateEnum
 
         # If we enter autonomous mode, we need to send a stop message to the motors
         if old.state != SystemStateEnum.AUTONOMOUS and updated.state == SystemStateEnum.AUTONOMOUS:
+            self.set_system_mobility(False)
             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.AUTONOMOUS and updated.state != SystemStateEnum.AUTONOMOUS:
+            self.set_system_mobility(False)
             can_msg = can.Message(arbitration_id=MOBILITY_STOP_ID, data=bytes([0]))
             try:
                 self.can.send(can_msg)