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Fix: Wait for all motors to be connected before allowing the program flow to continue. #47

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Merged
merged 1 commit into from
Feb 9, 2022
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Fix: Wait for all motors to be connected before allowing the program flow to continue. #47

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9 changes: 9 additions & 0 deletions src/Braccio++.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -140,6 +140,15 @@ 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++)
{
auto const start = millis();
auto isTimeout = [start]() -> bool { return ((millis() - start) > 5000); };
for(; !isTimeout() && !connected(id); delay(100)) { }
if (isTimeout()) return false;
}

return true;
}

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