prepped for wheel spin

Author: Anonimous-User

lib/systems/src/DrivetrainSystem.cpp

@@ -207,7 +207,8 @@ DrivetrainState_e DrivetrainSystem::_evaluate_state_machine(DrivetrainSystem::Cm
             bool valid_drivetrain_command = etl::holds_alternative<DrivetrainCommand_s>(cmd);
 
             if (valid_drivetrain_command) {
-                DrivetrainCommand_s drivetrain_command = etl::get<DrivetrainCommand_s>(cmd);
+                // DrivetrainCommand_s drivetrain_command = etl::get<DrivetrainCommand_s>(cmd);
+                DrivetrainCommand_s drivetrain_command = {{1, 0, 0, 0}, {1.0f, 0.0f, 0.0f, 0.0f}};
                 _set_drivetrain_command(drivetrain_command);
             }
             _set_ef_active_pin(true);

platformio.ini

@@ -32,16 +32,52 @@ check_src_filters =
     +<**/*.h>
     -<test/**>
     -<src/main_can_test.cpp>
+    -<src/wheel_spin_main.cpp>
 test_framework = googletest
 build_unflags = -std=gnu++11
 build_flags = 
     -std=c++17
     -D TEENSY_OPT_SMALLEST_CODE
     -I include
+build_src_filter = 
+    +<**/*.cpp>
+    -<main_can_test.cpp>
+    -<wheel_spin_main.cpp>
+platform = teensy
+board = teensy41
+framework = arduino
+monitor_speed = 115200
+upload_protocol = teensy-cli
+test_ignore =
+    test_interfaces
+    test_systems
+lib_deps =
+    ${common.lib_deps_shared}
+    ${on_hardware_common.lib_deps_third_party}
+    ${on_hardware_common.ht_lib_deps}
 
+[env:wheel_spin]
+check_tool = clangtidy
+check_severity = medium, high
+check_flags =
+    clangtidy: --config-file=./.clang-tidy
+check_src_filters = 
+    +<**/*.cpp>
+    +<**/*.h>
+    -<test/**>
+    -<src/main_can_test.cpp>
+    -<src/wheel_spin_main.cpp>
+test_framework = googletest
+build_unflags = -std=gnu++11
+build_flags = 
+    -std=c++17
+    -D TEENSY_OPT_SMALLEST_CODE
+    -I include
 build_src_filter = 
     +<**/*.cpp>
     -<main_can_test.cpp>
+    -<main.cpp>
+    +<wheel_spin_main.cpp>
 platform = teensy
 board = teensy41
 framework = arduino
@@ -62,6 +98,7 @@ build_src_filter =
     -<VCR_Globals.cpp>
     -<VCR_InterfaceTasks.cpp>
     -<main.cpp>
+    -<wheel_spin_main.cpp>
     +<VCR_Constants.cpp>
     +<../test/test_systems/test_systems.cpp>
 build_unflags = -std=gnu++11
@@ -94,6 +131,7 @@ check_src_filters =
     -<src/old_main.cpp>
 build_src_filter = 
     -<*.cpp>
+    -<wheel_spin_main.cpp>
     +<main_ethernet_test.cpp>
 platform = teensy
 board = teensy41
@@ -122,6 +160,7 @@ build_flags =
 build_src_filter = 
     +<**/*.cpp>
     -<main.cpp>
+    -<wheel_spin_main.cpp>
     ; -<main_can_test.cpp>
 platform = teensy
 board = teensy41