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make a enable on startup param #175

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merged 1 commit into from
Sep 6, 2024
Merged

make a enable on startup param #175

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3 changes: 2 additions & 1 deletion config/f15_config_f15/robotbrain.py
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Original file line number Diff line number Diff line change
@@ -1,3 +1,4 @@
configuration = {'robot_brain': {
'flash_params': ['orin', 'v05', 'nand']
'flash_params': ['orin', 'v05', 'nand'],
'enable_esp_on_startup':False,
}}
5 changes: 4 additions & 1 deletion field_friend/hardware/field_friend_hardware.py
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Expand Up @@ -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'],
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