From ac8a51fcc6923b3097fd40e9783e161ef462dd29 Mon Sep 17 00:00:00 2001
From: Jan-Felix Abellera <jfabellera@gmail.com>
Date: Wed, 25 Sep 2024 12:16:33 +0300
Subject: [PATCH 1/2] Fix food production not canceling

---
 lib/models/src/fcs/FeedingTheFutureFCS.ts | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/lib/models/src/fcs/FeedingTheFutureFCS.ts b/lib/models/src/fcs/FeedingTheFutureFCS.ts
index c440e1cb..cac07c35 100644
--- a/lib/models/src/fcs/FeedingTheFutureFCS.ts
+++ b/lib/models/src/fcs/FeedingTheFutureFCS.ts
@@ -613,9 +613,8 @@ export class PacketManager {
       currentState !== NexusGoalState.Full &&
       previousState === NexusGoalState.Full
     ) {
-      // // Cancel timer if there is one
-      // clearTimeout(this.timers.get(goal));
-      this.actionQueue.delete(goal);
+      // Cancel timer if there is one
+      this.actionQueue.delete(goal + ':leds');
     }
 
     // Broadcast update

From c0866aa746e781bffbbaa112d1c33178ceac2a3f Mon Sep 17 00:00:00 2001
From: Jan-Felix Abellera <jfabellera@gmail.com>
Date: Wed, 25 Sep 2024 14:27:41 +0300
Subject: [PATCH 2/2] Stop motors on abort

---
 lib/models/src/fcs/FeedingTheFutureFCS.ts | 1 +
 1 file changed, 1 insertion(+)

diff --git a/lib/models/src/fcs/FeedingTheFutureFCS.ts b/lib/models/src/fcs/FeedingTheFutureFCS.ts
index cac07c35..a7fb0da6 100644
--- a/lib/models/src/fcs/FeedingTheFutureFCS.ts
+++ b/lib/models/src/fcs/FeedingTheFutureFCS.ts
@@ -255,6 +255,7 @@ export class PacketManager {
       LedStripA.ALL_STRIPS,
       result
     );
+    applySetpointToMotors(0, MotorA.ALL_GOALS, result);
 
     this.broadcastCallback(result);
   };