From 580ed069c96bd855c5ddadc8c5ad88d43dd79eac Mon Sep 17 00:00:00 2001
From: photodude <photodude@users.noreply.github.com>
Date: Sat, 18 Apr 2015 10:55:47 -0600
Subject: [PATCH] add stopIfFault from code and put in library

functions belong in the library not the code (even if they work in the code)
---
 .../DualVNH5019MotorShieldMod3.cpp            | 25 +++++++++++++++++++
 1 file changed, 25 insertions(+)

diff --git a/DualVNH5019MotorShieldMod3/DualVNH5019MotorShieldMod3.cpp b/DualVNH5019MotorShieldMod3/DualVNH5019MotorShieldMod3.cpp
index d2b79a5..6942290 100644
--- a/DualVNH5019MotorShieldMod3/DualVNH5019MotorShieldMod3.cpp
+++ b/DualVNH5019MotorShieldMod3/DualVNH5019MotorShieldMod3.cpp
@@ -403,3 +403,28 @@ unsigned char DualVNH5019MotorShieldMod3::getM4Fault()
 {
   return !digitalRead(_EN4DIAG4);
 }
+
+//stop if fault methods
+void stopIfFault()
+{
+  if (md.getM1Fault())
+  {
+    Serial.println("M1 fault");
+    while(1);
+  }
+  if (md.getM2Fault())
+  {
+    Serial.println("M2 fault");
+    while(1);
+  }
+    if (md.getM3Fault())
+  {
+    Serial.println("M3 fault");
+    while(1);
+  }
+    if (md.getM4Fault())
+  {
+    Serial.println("M4 fault");
+    while(1);
+  }
+}