…f the Hepa/UV module. (#782)

…796)

* Revert "fix(motor-control): Revert motor driver chip errors (#777)"

This reverts commit 30ff770.

* formatted

* added CAN msg for debugging

* fix: use namespacing

* eliminated interrupt line checks

* proposed change

* eliminated debounce for testing

* update

* cleanup

* refactor

…uv on the flex. (#802) (#806)

Co-authored-by: Brayan Almonte <[email protected]>

…uv on the flex. (#802) (#807)

Co-authored-by: Brayan Almonte <[email protected]>

#808)

…t a safety relay. (#809)

* add batch message

* use the batch message instead

* remove the old echo, will be going away anyway

* add a bool return to send can message

* auto computer max data length of a batch repsonse

* refactor sensor driver to use batch responses succesfully

* lint

* copy to capacitance sensor

* the data buffer should be int32

* fix the tests

* fix modulus error during batch send

* fix capacatance test

* add test to handle when buffer filles up

* format

* lint

* call disable motor on a stop request so that we engage the brake if needed

* catch a stall during a home if the axis starts moving in the wrong direction

* fixup the tests for the new behavior

* lint

)

* Revert "Revert "fix(motor-control): Revert motor driver chip errors (#777)" (#796)"

This reverts commit 4169f60.

* add the pin definitions and driver configs

* add driver definitions

* add the can messages

* init the diag pin as input

* implement the pin polling paradime

* return errors if trying to move while there is a motor driver error

* fix struct init

* fix some funtion declerations

* hookup reading the status register

* format

* re-add timeout increase

* brushed motor isn't hooked up to diag

)

* We don't need to clear the stepper ok field when we get a stop message.

* Ok i was wrong about how this worked. We don't want to leave the motor enable false we just want to turn the brake on for a bit then turn it back off to leave the motor enabled.

Co-authored-by: Ryan Howard <[email protected]>

* fix(motor-control): add a state to the motor control that maintains the difference between a never homed and a stopped gripper

* revert to the unhomed state during estop or collisions

* keep the older estop behavior