Resetbot.py refactor to save on processing time

Author: ksiegall

XRPLib/resetbot.py

@@ -1,27 +1,31 @@
-from XRPLib.encoded_motor import EncodedMotor
-from XRPLib.imu import IMU
-from XRPLib.board import Board
-from XRPLib.servo import Servo
-from XRPLib.webserver import Webserver
+import sys
+import time
 """
 A simple file for shutting off all of the motors after a program gets interrupted from the REPL.
 Run this file after interrupting a program to stop the robot by running "import XRPLib.resetbot" in the REPL.
 """
-
 print("Stopping all motors and shutting down the robot...")
 
-# using the EncodedMotor since the default drivetrain uses the IMU and takes 3 seconds to init
-for i in range(4):
-    motor = EncodedMotor.get_default_encoded_motor(i+1)
-    motor.set_speed(0)
-    motor.reset_encoder_position()
+if "XRPLib.encoded_motor" in sys.modules:
+    from XRPLib.encoded_motor import EncodedMotor
+    # using the EncodedMotor since the default drivetrain uses the IMU and takes 3 seconds to init
+    for i in range(4):
+        motor = EncodedMotor.get_default_encoded_motor(i+1)
+        motor.set_speed(0)
+        motor.reset_encoder_position()
 
-# Turn off the on-board LED
-Board.get_default_board().led_off()
+if "XRPLib.board" in sys.modules:
+    from XRPLib.board import Board
+    # Turn off the on-board LED
+    Board.get_default_board().led_off()
 
-# Turn off both Servos
-Servo.get_default_servo(1).free()
-Servo.get_default_servo(2).free()
+if "XRPLib.servo" in sys.modules:
+    from XRPLib.servo import Servo
+    # Turn off both Servos
+    Servo.get_default_servo(1).free()
+    Servo.get_default_servo(2).free()
 
-# Shut off the webserver and close network connections
-Webserver.get_default_webserver().stop_server()
+if "XRPLib.webserver" in sys.modules:
+    from XRPLib.webserver import Webserver
+    # Shut off the webserver and close network connections
+    Webserver.get_default_webserver().stop_server()