wait until axis is finished referencing

zauberzeug · Sep 25, 2024 · 229ff1c · 229ff1c
1 parent 6124488
commit 229ff1c
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/field_friend/hardware/axis_D1.py b/field_friend/hardware/axis_D1.py
@@ -111,6 +111,8 @@ async def try_reference(self) -> bool:
             # due to some timing issues, the homing command is sent twice
             await self.robot_brain.send(f'{self.name}_motor.home()')
             await self.robot_brain.send(f'{self.name}_motor.home()')
+            while not self.is_referenced:
+                await rosys.sleep(0.1)
         return self.is_referenced
 
     async def speed_Mode(self, speed: int):