More explanation

Author: preston-rogers

src/jsd/actuator_fsm_helpers.cc

@@ -551,30 +551,43 @@ bool fastcat::Actuator::IsMotionFaultConditionMet()
           JSD_ELMO_STATE_MACHINE_STATE_OPERATION_ENABLED) {
     if (elmo_state_machine_state == 
           JSD_ELMO_STATE_MACHINE_STATE_SWITCHED_ON) {
-      ERROR("%s: Elmo drive state machine transitioned from OPERATION_ENABLED "
-          "to SWITCHED_ON during motion! This transition should not occur.",
-          name_.c_str());
-      fastcat_fault_ = ACTUATOR_FASTCAT_FAULT_INVALID_ELMO_SMS_DURING_MOTION;
-      return true;
-    }
-    else if (elmo_state_machine_state == 
-          JSD_ELMO_STATE_MACHINE_STATE_QUICK_STOP_ACTIVE) {
-      ERROR("%s: Elmo drive state machine transitioned from OPERATION_ENABLED "
-          "to QUICK_STOP_ACTIVE during motion! Likely due to fastcat fault.",
-          name_.c_str());
-      fastcat_fault_ = ACTUATOR_FASTCAT_FAULT_INVALID_ELMO_SMS_DURING_MOTION;
-      return true;
-    }
-    else if (elmo_state_machine_state ==
-          JSD_ELMO_STATE_MACHINE_STATE_FAULT) {
-      ERROR("%s: Elmo drive state machine transitioned from OPERATION_ENABLED "
-        "to FAULT during motion! This fault arose from the drive itself.",
-        name_.c_str());
+      ERROR("%s: Elmo drive state machine transitioned from %s "
+          "to %s during motion! This transition should not occur.",
+          name_.c_str(), 
+          jsd_elmo_state_machine_state_to_string(last_elmo_state_machine_state_),
+          jsd_elmo_state_machine_state_to_string(elmo_state_machine_state));
       fastcat_fault_ = ACTUATOR_FASTCAT_FAULT_INVALID_ELMO_SMS_DURING_MOTION;
       return true;
     }
+  } 
+  if (elmo_state_machine_state == 
+        JSD_ELMO_STATE_MACHINE_STATE_QUICK_STOP_ACTIVE) {
+    ERROR("%s: Elmo drive state machine transitioned from %s "
+        "to %s during motion! This is likely due to fastcat fault.",
+        name_.c_str(), 
+        jsd_elmo_state_machine_state_to_string(last_elmo_state_machine_state_),
+        jsd_elmo_state_machine_state_to_string(elmo_state_machine_state));
+    fastcat_fault_ = ACTUATOR_FASTCAT_FAULT_INVALID_ELMO_SMS_DURING_MOTION;
+    return true;
+  }
+  else if (elmo_state_machine_state ==
+        JSD_ELMO_STATE_MACHINE_STATE_FAULT) {
+    ERROR("%s: Elmo drive state machine transitioned from %s "
+      "to %s during motion! This fault arose from the drive itself.",
+      name_.c_str(),
+      jsd_elmo_state_machine_state_to_string(last_elmo_state_machine_state_),
+      jsd_elmo_state_machine_state_to_string(elmo_state_machine_state));
+    fastcat_fault_ = ACTUATOR_FASTCAT_FAULT_INVALID_ELMO_SMS_DURING_MOTION;
+    return true;
+  }
+  else if (elmo_state_machine_state ==
+        JSD_ELMO_STATE_MACHINE_STATE_FAULT_REACTION_ACTIVE) {
+    ERROR("%s: Elmo drive state machine transitioned from %s to "
+      "to %s during motion! The drive just triggered a fault.",
+      name_.c_str(), 
+      jsd_elmo_state_machine_state_to_string(last_elmo_state_machine_state_),
+      jsd_elmo_state_machine_state_to_string(elmo_state_machine_state));
   }
-
   return false;
 }