From 0793c0c730a15297c5253282b9598d3b83118161 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?L=C3=B3r=C3=A1nt=20Pint=C3=A9r?= <lorant.pinter@gmail.com>
Date: Thu, 22 Feb 2024 22:14:34 +0100
Subject: [PATCH] Fix flow-control for MK5

---
 data-templates/flow-control-mk5.json | 2 +-
 src/kernel/drivers/Drv8874Driver.hpp | 7 +++++++
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/data-templates/flow-control-mk5.json b/data-templates/flow-control-mk5.json
index 3e0408e1..f17e84b0 100644
--- a/data-templates/flow-control-mk5.json
+++ b/data-templates/flow-control-mk5.json
@@ -9,7 +9,7 @@
           "motor": "a"
         },
         "flow-meter": {
-          "pin": 6
+          "pin": 5
         }
       }
     }
diff --git a/src/kernel/drivers/Drv8874Driver.hpp b/src/kernel/drivers/Drv8874Driver.hpp
index 1c9dec82..70995503 100644
--- a/src/kernel/drivers/Drv8874Driver.hpp
+++ b/src/kernel/drivers/Drv8874Driver.hpp
@@ -50,6 +50,13 @@ class Drv8874Driver
     }
 
     void drive(MotorPhase phase, double duty = 1) override {
+        if (duty == 0) {
+            Log.traceln("Stopping motor");
+            sleep();
+            return;
+        }
+        wakeUp();
+
         int dutyValue = in1Channel.maxValue() / 2 + (int) (in1Channel.maxValue() / 2 * duty);
         Log.traceln("Driving motor %s at %d%%",
             phase == MotorPhase::FORWARD ? "forward" : "reverse",