Merge commit '556b2894a1571dc1624457fe69742bddb1f08390' into zedxmini

zauberzeug · Sep 6, 2024 · d273349 · d273349
2 parents ab07a01 + 556b289
commit d273349
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Showing 2 changed files with 6 additions and 2 deletions.
diff --git a/config/f15_config_f15/robotbrain.py b/config/f15_config_f15/robotbrain.py
@@ -1,3 +1,4 @@
 configuration = {'robot_brain': {
-    'flash_params': ['orin', 'v05', 'nand']
+    'flash_params': ['orin', 'v05', 'nand'],
+    'enable_esp_on_startup':False,
 }}
diff --git a/field_friend/hardware/field_friend_hardware.py b/field_friend/hardware/field_friend_hardware.py
@@ -58,7 +58,10 @@ def __init__(self) -> None:
             raise NotImplementedError(f'Unknown FieldFriend implement: {implement}')
 
         communication = rosys.hardware.SerialCommunication()
-        robot_brain = rosys.hardware.RobotBrain(communication)
+        if 'enable_esp_on_startup' in config_robotbrain['robot_brain']:
+            robot_brain = rosys.hardware.RobotBrain(communication,enable_esp_on_startup=config_robotbrain['robot_brain']['enable_esp_on_startup'])
+        else:
+            robot_brain = rosys.hardware.RobotBrain(communication)
         robot_brain.lizard_firmware.flash_params += config_robotbrain['robot_brain']['flash_params']
         bluetooth = rosys.hardware.BluetoothHardware(robot_brain,
                                                      name=config_hardware['bluetooth']['name'],