From ac36c7d46699d0a40e7c34b23baed80be0cea65c Mon Sep 17 00:00:00 2001
From: Eren Tekbas <tekbasa@lafayette.edu>
Date: Wed, 7 May 2025 13:39:28 -0400
Subject: [PATCH 1/2] added watchdog commands for motor microcontroller

---
 src/main.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/main.cpp b/src/main.cpp
index d9184ff..7ee252b 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -103,7 +103,7 @@ void setup() {
     pinMode(speedFreqLPin, INPUT_PULLDOWN);
     attachInterrupt(digitalPinToInterrupt(speedFreqRPin), pulse_handler_1, RISING);
     attachInterrupt(digitalPinToInterrupt(speedFreqLPin), pulse_handler_2, RISING);
-
+    watchdog_enable(3000, 1);  // updating the watchdog// set the watchdog to run at 8s interval
 
 
 
@@ -132,7 +132,7 @@ void setup() {
  }
 
 void loop() {
-
+    watchdog_update(); //updating the watchdog
 #if defined(ROS) || defined(ROS_DEBUG)
     microRosTick();
     refSpeedSensors = getRefSpeed();
@@ -227,4 +227,4 @@ void loop() {
 #ifdef ROS_DEBUG
     transmitDac(refSpeedL, refSpeedR);
 #endif
-}
+}
\ No newline at end of file

From 0ee9f3cd7721b3ec143fb44b0f5ad2c6b9d9acf4 Mon Sep 17 00:00:00 2001
From: Robbie Leslie <leslier@lafayette.edu>
Date: Sun, 18 May 2025 18:21:04 -0400
Subject: [PATCH 2/2] Added watchdog include

---
 src/main.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/main.cpp b/src/main.cpp
index 7ee252b..a88b247 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -9,6 +9,7 @@ It will also read the speed of the motor and send it to the onboard computer.
 #include <Adafruit_MCP4725.h>
 #include "RefSpeed.h"
 #include "BatteryFunctions.h"
+#include "hardware/watchdog.h"
 
 #if defined(ROS) || defined(ROS_DEBUG)
 #include <micro_ros_platformio.h>