Send actuators initialization command to the firmware.
Source code in cogip/tools/planner/actuators.py
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96 | async def actuators_init(planner: "Planner"):
"""
Send actuators initialization command to the firmware.
"""
if planner.robot_id == 1:
await front_lift_init(planner)
await back_lift_init(planner)
await front_arms_close(planner)
await back_arms_close(planner)
await front_grips_close(planner)
await back_grips_close(planner)
await front_scissors_open(planner)
duration = await back_scissors_open(planner)
await asyncio.sleep(duration)
await front_axis_left_side_out(planner)
await front_axis_left_center_out(planner)
await front_axis_right_center_out(planner)
duration = await front_axis_right_side_out(planner)
await asyncio.sleep(duration)
await front_scissors_close(planner)
await back_scissors_close(planner)
elif planner.robot_id == 2:
await ninja_arms_close(planner)
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