Method cleanup

piper_controller.py:130–145

Cleanup resources and disconnect from robot.

(self)

        self.cleanup()

    def cleanup(self) -> None:
        """Cleanup resources and disconnect from robot."""
        print("🧹 Cleaning up robot controller...")
        self.stop_control_loop()

        if (
            hasattr(self, "piper")
            and self.piper is not None
            and self.piper.get_connect_status()
        ):
            if self.is_robot_enabled():
                self.graceful_stop()  # this will disable the robot as well
            self.piper.DisconnectPort()
            print("✓ Robot disconnected")

        print("✓ Robot controller cleanup completed")

    def is_robot_enabled(self) -> bool:
        """Check if robot is enabled and ready to accept commands.