From d7aa2c2403a1207e018fbc4d19bbf7d5aa9a9dcf Mon Sep 17 00:00:00 2001 From: Nicolas Hiillos Date: Tue, 17 Jan 2023 12:29:42 +0200 Subject: [PATCH] Improve homing --- src/axidraw_controller/src/py/axidraw_serial.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/axidraw_controller/src/py/axidraw_serial.py b/src/axidraw_controller/src/py/axidraw_serial.py index 36b0adf..e81f9ec 100644 --- a/src/axidraw_controller/src/py/axidraw_serial.py +++ b/src/axidraw_controller/src/py/axidraw_serial.py @@ -69,7 +69,6 @@ class AxidrawSerial(Node): return response def go_home(self): - self.wait_ready() self.status["motion"] = "busy" if self.status["serial"] == "ready": self.ad.moveto(0,0) @@ -82,9 +81,10 @@ class AxidrawSerial(Node): self.status["motion"] = "ready" def wait_ready(self): - rate = node.create_rate(2) #2Hz + rate = self.create_rate(2) #2Hz while self.status["motion"] != "ready": rate.sleep() + pass def move_callback(self, msg): self.set_busy()