From 4ca99a62c88278a332fa83b23256c05dcea5ebdd Mon Sep 17 00:00:00 2001
From: Oskar Weigl <oskar.weigl@gmail.com>
Date: Thu, 5 May 2022 13:58:33 -0700
Subject: [PATCH] fix setter logic

---
 Firmware/MotorControl/controller.hpp | 1 +
 Firmware/odrive-interface.yaml       | 3 +--
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/Firmware/MotorControl/controller.hpp b/Firmware/MotorControl/controller.hpp
index 6701eb5c..2fc54861 100644
--- a/Firmware/MotorControl/controller.hpp
+++ b/Firmware/MotorControl/controller.hpp
@@ -58,6 +58,7 @@ public:
         Controller* parent;
         void set_input_filter_bandwidth(float value) { input_filter_bandwidth = value; parent->update_filter_gains(); }
         void set_steps_per_circular_range(uint32_t value) { steps_per_circular_range = value > 0 ? value : steps_per_circular_range; }
+        void set_control_mode(ControlMode value) { control_mode = value; parent->control_mode_updated(); }
     };
 
     
diff --git a/Firmware/odrive-interface.yaml b/Firmware/odrive-interface.yaml
index 40e90a96..77b997fe 100644
--- a/Firmware/odrive-interface.yaml
+++ b/Firmware/odrive-interface.yaml
@@ -1069,7 +1069,7 @@ interfaces:
           enable_overspeed_error: 
             type: bool
             doc: Enables the velocity controller's overspeed error
-          control_mode: ControlMode
+          control_mode: {type: ControlMode, c_setter: set_control_mode}
           input_mode: InputMode
           pos_gain:
             type: float32
@@ -1591,7 +1591,6 @@ valuetypes:
         doc: MagAlpha MA732 magnetic encoder
 
   ODrive.Controller.ControlMode:
-    c_setter: set_setpoint_to_estimate
     values:
       # Note: these should be sorted from lowest level of control to
       # highest level of control, to allow "<" style comparisons.