ping360: set baudrate before turning motor off

bluerobotics · Jan 11, 2024 · 3ef3ac7 · 3ef3ac7
1 parent 7f44b7f
commit 3ef3ac7
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/src/sensor/ping360.cpp b/src/sensor/ping360.cpp
@@ -853,6 +853,12 @@ Ping360::~Ping360()
     ping360_motor_off message;
     message.updateChecksum();
 
+    // set the baudrate for two reasons:
+    // 1: if doing an auto scan, this will break the sensor out of
+    // automatic transmission mode
+    // 2: use a low baudrate to decrease chances of corruption in transmission
+    setBaudRate(9600);
+
     // Stop scanning and turn off the stepper motor
     for (int i {0}; i < 10; i++) {
         writeMessage(message);