Check if Braccio.begin() does return true.

Author: aentinger

examples/Braccio_LearnByDoing/Braccio_LearnByDoing.ino

@@ -118,20 +118,23 @@ static mbed::FATFileSystem fs("fs");
 void setup()
 {
   Serial.begin(115200);
-  while (!Serial) { }
+  for (auto const start = millis(); !Serial && ((millis() - start) < 5000); delay(10)) { }
 
   // Mount file system for load/store movements
   int err = fs.mount(&bd);
   if (err) {
     err = fs.reformat(&bd);
   }
 
-  // Call Braccio.begin() for default menu or pass a function for custom menu
-  Braccio.begin(customMenu);
+  if (!Braccio.begin(customMenu)) {
+    if (Serial) Serial.println("Braccio.begin() failed.");
+    for(;;) { }
+  }
   Serial.println("Replicate a movement");
 }
 
-void loop() {
+void loop()
+{
   if (state == LEARN) {
     Braccio.positions(idx);
     idx += 6;

examples/LCD_Custom_Menu/LCD_Custom_Menu.ino

@@ -38,10 +38,18 @@ void customMenu(){
  * SETUP/LOOP
  **************************************************************************************/
 
-void setup() {
-  Braccio.begin(customMenu);
+void setup()
+{
+  Serial.begin(115200);
+  for (auto const start = millis(); !Serial && ((millis() - start) < 5000); delay(10)) { }
+
+  if (!Braccio.begin(customMenu)) {
+    if (Serial) Serial.println("Braccio.begin() failed.");
+    for(;;) { }
+  }
 }
 
-void loop() {
+void loop()
+{
 
 }

examples/LCD_Menu_Joystick/LCD_Menu_Joystick.ino

@@ -60,10 +60,18 @@ void customMenu(){
  * SETUP/LOOP
  **************************************************************************************/
 
-void setup() {
-  Braccio.begin(customMenu);
+void setup()
+{
+  Serial.begin(115200);
+  for (auto const start = millis(); !Serial && ((millis() - start) < 5000); delay(10)) { }
+
+  if (!Braccio.begin(customMenu)) {
+    if (Serial) Serial.println("Braccio.begin() failed.");
+    for(;;) { }
+  }
 }
 
-void loop() {
+void loop()
+{
 
 }

examples/LCD_Motors/LCD_Motors.ino

@@ -83,12 +83,19 @@ void customMenu() {
  * SETUP/LOOP
  **************************************************************************************/
 
-void setup() {
-  Braccio.begin(customMenu);
+void setup()
+{
   Serial.begin(115200);
+  for (auto const start = millis(); !Serial && ((millis() - start) < 5000); delay(10)) { }
+
+  if (!Braccio.begin(customMenu)) {
+    if (Serial) Serial.println("Braccio.begin() failed.");
+    for(;;) { }
+  }
 }
 
-void loop() {
+void loop()
+{
   for (float angle = 0.0; angle <= 180.0; angle+=10.0){
     Braccio.move(selected_motor).to(angle);
     delay(500);

examples/Tools/Factory_Set_Initial_Servo_Position/Factory_Set_Initial_Servo_Position.ino

@@ -104,7 +104,11 @@ void setup()
   Serial.begin(115200);
   while(!Serial) { }
 
-  Braccio.begin();
+  if (!Braccio.begin()) {
+    Serial.println("Braccio.begin() failed.");
+    for(;;) { }
+  }
+
   Braccio.disengage();
 
   for (auto & servo : INITIAL_SERVO_POSITION)

examples/Tools/Test_Inputs/Test_Inputs.ino

@@ -9,9 +9,13 @@
 void setup()
 {
   Serial.begin(115200);
-  while(!Serial){}
+  while(!Serial) { }
+
+  if (!Braccio.begin()) {
+    Serial.println("Braccio.begin() failed.");
+    for(;;) { }
+  }
 
-  Braccio.begin();
   Serial.println("Press any button or move the joystick.");
 }
 

examples/Tools/Test_Motor_Angular_Control/Test_Motor_Angular_Control.ino

@@ -53,9 +53,13 @@ void test_motor(int const id)
 void setup()
 {
   Serial.begin(115200);
-  while(!Serial){}
+  while(!Serial) { }
+
+  if (!Braccio.begin()) {
+    Serial.println("Braccio.begin() failed.");
+    for(;;) { }
+  }
 
-  Braccio.begin();
   Serial.println("Testing motor angular movement!");
 }
 

examples/Tools/Test_Motor_Communication/Test_Motor_Communication.ino

@@ -10,7 +10,11 @@ void setup()
   Serial.begin(115200);
   while(!Serial) { }
 
-  Braccio.begin();
+  if (!Braccio.begin()) {
+    Serial.println("Braccio.begin() failed.");
+    for(;;) { }
+  }
+
   Serial.println("Testing motor communication!");
   Serial.println("Choose motor 1 to 6 to test the connection");
   Serial.print(">> ");