From a1fcd61c53762892e8988a476c7ff3d9ef501f05 Mon Sep 17 00:00:00 2001
From: Tanner <tanner@example.com>
Date: Fri, 7 Mar 2025 17:48:26 -0700
Subject: [PATCH] Re-enable motor relays when communication comes back

---
 main.py | 19 +++++++++++++++++++
 1 file changed, 19 insertions(+)

diff --git a/main.py b/main.py
index a5293de..ca7b5b3 100644
--- a/main.py
+++ b/main.py
@@ -26,17 +26,26 @@ dmm2 = None
 
 MOTOR_EN1 = 1
 MOTOR_EN2 = 2
+DISABLED = None
 
 def enable_motors():
+    global DISABLED
+
     logging.info('Enabling both motors...')
     relays.relay_on(MOTOR_EN1)
     relays.relay_on(MOTOR_EN2)
 
+    DISABLED = False
+
 def disable_motors():
+    global DISABLED
+
     logging.info('Disabling both motors...')
     relays.relay_off(MOTOR_EN1)
     relays.relay_off(MOTOR_EN2)
 
+    DISABLED = True
+
 
 async def send_mqtt(topic, message):
     try:
@@ -184,6 +193,16 @@ async def monitor_dyn4():
         await send_mqtt(topic, message)
 
 
+        if ONE_MOTOR:
+            if DISABLED is True and dmm1:
+                logging.info('Motor1 communication back, re-enabling...')
+                enable_motors()
+        else:
+            if DISABLED is True and dmm1 and dmm2:
+                logging.info('Motor1 and Motor2 communication back, re-enabling...')
+                enable_motors()
+
+
 
 def task_died(future):
     if os.environ.get('SHELL'):