manually stop all

leka · Feb 14, 2024 · 4e8099c · 4e8099c
1 parent 176b21d
commit 4e8099c
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Showing 2 changed files with 11 additions and 3 deletions.
diff --git a/app/os/main.cpp b/app/os/main.cpp
@@ -574,6 +574,10 @@ auto main() -> int
 	imu::lsm6dsox.init();
 	imukit.init();
 
+	rtos::ThisThread::sleep_for(1s);
+
+	imukit.stop();
+
 	robot::controller.initializeComponents();
 	robot::controller.registerOnUpdateLoadedCallback(firmware::setPendingUpdate);
 	robot::controller.registerOnFactoryResetNotificationCallback(factory_reset::set);

diff --git a/libs/RobotKit/include/RobotController.h b/libs/RobotKit/include/RobotController.h
@@ -311,9 +311,13 @@ class RobotController : public interface::RobotController
 
 	void suspendHardwareForDeepSleep() final
 	{
-		for (auto &component: _deep_sleep_enabled_components) {
-			component->enableDeepSleep();
-		}
+		// for (auto &component: _deep_sleep_enabled_components) {
+		// 	component->enableDeepSleep();
+		// }
+		_motor_left.enableDeepSleep();
+		_motor_right.enableDeepSleep();
+		_rfidkit.enableDeepSleep();
+		_lcd.enableDeepSleep();
 	}
 
 	void resetEmergencyStopCounter() final { _emergency_stop_counter = 0; }