From 749c8ed73d609054b904a993032392f60a90f1bb Mon Sep 17 00:00:00 2001
From: Max <Hunt>
Date: Tue, 21 Sep 2021 15:43:18 +0100
Subject: [PATCH] Update

---
 Control/Jetson/main.py | 14 ++++++++------
 1 file changed, 8 insertions(+), 6 deletions(-)

diff --git a/Control/Jetson/main.py b/Control/Jetson/main.py
index 117060d..51a9166 100755
--- a/Control/Jetson/main.py
+++ b/Control/Jetson/main.py
@@ -55,6 +55,7 @@ executor_logger.setLevel(logging.DEBUG)
 
 
 #--- <Pseudoprivate methods
+
 def __go_to_gps_waypoints(vehicle_ctrl, waypoints: list):
     if len(waypoints) > 0:
         for ix, waypoint in enumerate(waypoints):
@@ -141,12 +142,6 @@ def queue_executor_thread():
     HOLE_ALIGNMENT_SYSTEM = HoleAligner(FORKLIFT)
     executor_logger.info("ARMING VEHICLE...")
     FORKLIFT.set_arm()
-    if DO_ZERO:
-        executor_logger.info("Zeroing fork...")
-        FORKLIFT.zero_fork_vert_movement()
-        FORKLIFT.zero_fork_horiz()
-    else:
-        executor_logger.warning("DO_ZERO flag is false, skipping zeroing")
     FORKLIFT.set_state("READY_FOR_NEXT_TASK")
     executor_logger.info("Ready.")
 
@@ -156,6 +151,13 @@ def queue_executor_thread():
             executor_logger.info(f"Executing new job: {current_job}")
             #execute job.....
 
+            if DO_ZERO:
+                executor_logger.info("Zeroing fork...")
+                FORKLIFT.zero_fork_vert_movement()
+                FORKLIFT.zero_fork_horiz()
+            else:
+                executor_logger.warning("DO_ZERO flag is false, skipping zeroing")
+
             if DO_GPS_THERE:
                 FORKLIFT.set_state("NAVIGATING_TO_POINT_GPS")
                 gps_navigation_succcess = __go_to_gps_waypoints(FORKLIFT, current_job['pickup_waypoints'])