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actuators

actuators_init(planner) async #

Send actuators initialization command to the firmware.

Source code in cogip/tools/planner/actuators.py
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async def actuators_init(planner: "Planner"):
    """
    Send actuators initialization command to the firmware.
    """
    await arm_right_front(planner)
    await arm_left_front(planner)
    await magnet_side_right_in(planner)
    await magnet_center_right_in(planner)
    await magnet_center_left_in(planner)
    await magnet_side_left_in(planner)
    await arms_close(planner)

    # Right arm first
    await arm_grip_right_close(planner)
    await asyncio.sleep(0.2)

    # Left arm
    await arm_grip_left_close(planner)

    await planner.sio_ns.emit("actuator_init")