From a8948651a8a932df98b1827cb4111e2ca940248e Mon Sep 17 00:00:00 2001
From: Jisung Kang <jisungk@berkeley.edu>
Date: Wed, 26 Apr 2023 00:40:21 -0700
Subject: [PATCH] [LOWCAR] removed device_enable from PDB.h and set pid_enabled
 to false for KoalaBear.cpp

---
 lowcar/devices/KoalaBear/KoalaBear.cpp | 10 +++++-----
 lowcar/devices/PDB/PDB.h               |  1 -
 2 files changed, 5 insertions(+), 6 deletions(-)

diff --git a/lowcar/devices/KoalaBear/KoalaBear.cpp b/lowcar/devices/KoalaBear/KoalaBear.cpp
index 513723bd..1b2f8a9e 100644
--- a/lowcar/devices/KoalaBear/KoalaBear.cpp
+++ b/lowcar/devices/KoalaBear/KoalaBear.cpp
@@ -116,7 +116,7 @@ KoalaBear::KoalaBear() : Device(DeviceType::KOALA_BEAR, 13) {
     // initialize PID controllers
     this->pid_a = new PID();
     this->pid_b = new PID();
-    this->pid_enabled_a = this->pid_enabled_b = TRUE;  // by default, PID control is enabled
+    this->pid_enabled_a = this->pid_enabled_b = FALSE;  // by default, PID control is enabled
     this->pid_a->set_coefficients(KP_DEFAULT, KI_DEFAULT, KD_DEFAULT);
     this->pid_b->set_coefficients(KP_DEFAULT, KI_DEFAULT, KD_DEFAULT);
 
@@ -269,8 +269,8 @@ void KoalaBear::device_enable() {
     pinMode(BENC1, INPUT);
     pinMode(BENC2, INPUT);
 
-    this->pid_enabled_a = TRUE;
-    this->pid_enabled_b = TRUE;
+    this->pid_enabled_a = FALSE;
+    this->pid_enabled_b = FALSE;
 
     this->led->setup_LEDs();
 
@@ -288,8 +288,8 @@ void KoalaBear::device_reset() {
     this->velocity_b = 0.0;
     this->curr_velocity_a = 0.0;
     this->curr_velocity_b = 0.0;
-    this->pid_enabled_a = TRUE;
-    this->pid_enabled_b = TRUE;
+    this->pid_enabled_a = FALSE;
+    this->pid_enabled_b = FALSE;
     this->online = FALSE;
 }
 
diff --git a/lowcar/devices/PDB/PDB.h b/lowcar/devices/PDB/PDB.h
index 76dce89a..c76a036a 100644
--- a/lowcar/devices/PDB/PDB.h
+++ b/lowcar/devices/PDB/PDB.h
@@ -16,7 +16,6 @@ class PDB : public Device {
 
     // overriden functions from Device class; see descriptions in Device.h
     virtual size_t device_read(uint8_t param, uint8_t* data_buf);
-    virtual void device_enable();
     virtual void device_actions();
     void expanderWrite(byte data);
     void writeString(char* str);