From 684b682d6655b191ccd5ec8245ed7a158faf11f0 Mon Sep 17 00:00:00 2001
From: Steve Nguyen <steve.nguyen@pollen-robotics.com>
Date: Tue, 12 Mar 2024 15:59:06 +0100
Subject: [PATCH] add set

---
 src/fake_motor.rs        | 3 +++
 src/motors_controller.rs | 4 ++++
 src/motors_io.rs         | 3 +++
 3 files changed, 10 insertions(+)

diff --git a/src/fake_motor.rs b/src/fake_motor.rs
index d17095c..980ca21 100644
--- a/src/fake_motor.rs
+++ b/src/fake_motor.rs
@@ -220,6 +220,9 @@ impl<const N: usize> RawMotorsIO<N> for FakeMotorsIO<N> {
     fn get_board_state(&mut self) -> Result<u8> {
         Ok(0)
     }
+    fn set_board_state(&mut self, _state: u8) -> Result<()> {
+        Ok(())
+    }
 }
 
 #[cfg(test)]
diff --git a/src/motors_controller.rs b/src/motors_controller.rs
index 3655941..25c1be8 100644
--- a/src/motors_controller.rs
+++ b/src/motors_controller.rs
@@ -244,6 +244,10 @@ pub trait MotorsController<const N: usize> {
     fn get_board_state(&mut self) -> Result<u8> {
         self.io().get_board_state()
     }
+    /// Set the current state of the articulation control board (clear error)
+    fn set_board_state(&mut self, state: u8) -> Result<()> {
+        self.io().set_board_state(state)
+    }
 }
 
 #[derive(Debug)]
diff --git a/src/motors_io.rs b/src/motors_io.rs
index 192f38a..886e9e0 100644
--- a/src/motors_io.rs
+++ b/src/motors_io.rs
@@ -41,4 +41,7 @@ pub trait RawMotorsIO<const N: usize> {
 
     /// Get the Board State byte
     fn get_board_state(&mut self) -> Result<u8>;
+
+    /// Set the Board State byte
+    fn set_board_state(&mut self, state: u8) -> Result<()>;
 }