Extend API of begin to disable waiting for all motors to be connected.

Author: aentinger

src/Braccio++.cpp

@@ -93,7 +93,7 @@ BraccioClass::BraccioClass()
  * PUBLIC MEMBER FUNCTIONS
  **************************************************************************************/
 
-bool BraccioClass::begin(voidFuncPtr custom_menu)
+bool BraccioClass::begin(voidFuncPtr custom_menu, bool const wait_for_all_motor_connected)
 {
   static int constexpr RS485_RX_PIN = 1;
 
@@ -140,13 +140,16 @@ bool BraccioClass::begin(voidFuncPtr custom_menu)
 
   _motors_connected_thd.start(mbed::callback(this, &BraccioClass::motorConnectedThreadFunc));
 
-  /* Wait for all motors to be actually connected. */
-  for (int id = SmartServoClass::MIN_MOTOR_ID; id <= SmartServoClass::MAX_MOTOR_ID; id++)
+  if (wait_for_all_motor_connected)
   {
-    auto const start = millis();
-    auto isTimeout = [start]() -> bool { return ((millis() - start) > 5000); };
-    for(; !isTimeout() && !connected(id); delay(100)) { }
-    if (isTimeout()) return false;
+    /* Wait for all motors to be actually connected. */
+    for (int id = SmartServoClass::MIN_MOTOR_ID; id <= SmartServoClass::MAX_MOTOR_ID; id++)
+    {
+      auto const start = millis();
+      auto isTimeout = [start]() -> bool { return ((millis() - start) > 5000); };
+      for(; !isTimeout() && !connected(id); delay(100)) { }
+      if (isTimeout()) return false;
+    }
   }
 
   return true;

src/Braccio++.h

@@ -65,8 +65,7 @@ class BraccioClass
   BraccioClass();
 
   inline bool begin() { return begin(nullptr); }
-         bool begin(voidFuncPtr custom_menu);
-
+         bool begin(voidFuncPtr custom_menu, bool const wait_for_all_motor_connected = true);
 
   void pingOn();
   void pingOff();