def emergency_stop_arm(self):
if self.active_state == 'stopped' or \
self.active_state == 'initialized':
return
if 'present_position' in base_servo_cache:
stop_positions = [
base_servo_cache['present_position'],
femur01_servo_cache['present_position'],
femur02_servo_cache['present_position'],
tibia_servo_cache['present_position'],
eff_servo_cache['present_position']
]
log.info("[emergency_stop_arm] stop_positions:{0}".format(
stop_positions))
self.sg.write_values(
register='goal_position', values=stop_positions)
self.active_state = 'stopped'
log.info("[emergency_stop_arm] active_state:{0}".format(
self.active_state))
else:
log.error("[emergency_stop_arm] no 'present_position' cache value")
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