From 229ff1cc4b253737e74060eb2547b9ce7da3d235 Mon Sep 17 00:00:00 2001
From: Pascal Schade <pascal@zauberzeug.com>
Date: Wed, 25 Sep 2024 17:09:39 +0200
Subject: [PATCH] wait until axis is finished referencing

---
 field_friend/hardware/axis_D1.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/field_friend/hardware/axis_D1.py b/field_friend/hardware/axis_D1.py
index 3cd391cb..b2988d15 100644
--- 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):