Hardware and subsystems initialization runs before H/W is ready

Question

Hardware and subsystems initialization runs before H/W is ready

Closed this issue 3 years ago · 2 comments

The hardware, subsystems, and control initialization currently happens at process start, which sometimes is before the physical hardware is ready to be used. They should move to robotInit so they don't race with physical hardware setup.

Answer 1 · 2022-01-30T20:20:20.000Z

Would it make sense to initialize controls at teleop init instead of robot init?

Answer 2 · 2022-01-30T20:31:29.000Z

Probably not, as the code would have to make sure the controls don't get re-initialized the 2nd time teleop init is called (enable -> disable -> enable). And the controls themselves should protect against being used if the robot's not enabled in teleop mode.