Prepare robot hardware
From DIDEAS Wiki
Take the robot out of its boot mode so that it can be controlled externally. Generally the following special commands achieve this:
* [231, 0] # IMU off - to minimize possible loss of commands over the FUP (may want to leave on or turn on later with 231, 1) * [173,77,7] # demux statemachine to idle mode * [170,77,17] # primary statemachine to the 'do nothing state' * [1421, 17] # MC statemachine to a 'do nothing success state'
#################################################### # send special commands to 'prepare the hardware' #################################################### pf.do_command('special',[173, 77, 7]); pf.do_command('special',[170, 77, 17]); pf.do_command('special',[1421, 8]); pf.do_command('special',[173, 77, 6]); pf.do_command('special',[170, 77, 17]);