Restart IMU initialization for a maximum of 5 times #90
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I assume that this code should work, but I want to test this on a robot first |
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Ready to be merged. In order to make this feature work properly, we have to wait for the MTi to update its status word. This is normally an asynchronous process that happens on the MTi itself. However, since we want to make sure that the calibration has succeeded, we wait in the init loop. As a consequence, the boot time of the robots are delayed. But in theory this should not matter too much, since they always halt anyhow if the IMU is not yet calibrated. |
emielsteerneman
approved these changes
Aug 22, 2023
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Quite often people move the robot on accident when they turn it on. This causes the initialization of the IMU to fail. In order to somewhat mitigate this, the initialization is attempted for 5 times.
If the robot cannot initialize the IMU within these 5 attempts, the robot will remain in halt mode, just as the current implementation.