State machine
The system always operates within defined states (modes), represented numerically in the root variable /mode.
/mode
| Value | Mode name | Description |
|---|---|---|
| 0 | MODE_STOP | Controller is in an error state. Either `/driver/error` or `/common/error` is non-zero. Or `/common/stat` = 1. |
| 10 | MODE_WAIT | Startup delay active. |
| 100 | MODE_IDLE | System at idle (input = 0, idle_level and idle_cmd applied). |
| 110 | MODE_WORKING | Active operation (non-zero driver command). |
| 120 | MODE_CAN | Driver mode under CAN control. |
| 200 | MODE_OVERRIDEN | Driver is overridden via CAN or the `run` command. |