Send armIKEnabledReport on emergency shutdown

huskyroboticsteam · Oct 17, 2023 · 89356d4 · 89356d4
1 parent 99506aa
commit 89356d4
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/src/network/MissionControlProtocol.cpp b/src/network/MissionControlProtocol.cpp
@@ -87,6 +87,9 @@ void MissionControlProtocol::handleEmergencyStopRequest(const json& j) {
 	// TODO: reinit motors
 	Globals::E_STOP = stop;
 	Globals::armIKEnabled = false;
+
+	// inform MC that Ik has been disabled
+	sendArmIKEnabledReport();
 }
 
 static bool validateOperationModeRequest(const json& j) {