Thread: Begin.vi
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Unread 25-02-2015, 22:48
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Re: Begin.vi
We added some homing code for a few motors. It doesn't run until the robot is enabled, and only really runs if the controlled actuator is not already homed.

Our thinking is that similar to charging a pneumatic tank, we could re-home our manipulators in the queue, if needed. After exiting begin, we are not anticipating the need to re-home, but have code that triggers if we trip lower limits.

If we don't get to re-home in the queue, it only takes a second of autonomous, and nothing else happens until the homing is complete.
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