[xs_modules] Spin timing futures until complete

Solves #55. Fixes a race condition in timing registers which would
cause the arm to move unexpectedly fast.

interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_robot/arm.py

@@ -299,10 +299,7 @@ def set_trajectory_time(
                     value=int(moving_time * 1000),
                 )
             )
-            self.core.executor.spin_once_until_future_complete(
-                future=future_moving_time,
-                timeout_sec=0.1
-            )
+            self.core.robot_spin_until_future_complete(future_moving_time)
 
         if accel_time is not None and accel_time != self.accel_time:
             self.accel_time = accel_time
@@ -314,10 +311,7 @@ def set_trajectory_time(
                     value=int(accel_time * 1000),
                 )
             )
-            self.core.executor.spin_once_until_future_complete(
-                future=future_accel_time,
-                timeout_sec=0.1
-            )
+            self.core.robot_spin_until_future_complete(future_accel_time)
 
     def _check_joint_limits(self, positions: List[float]) -> bool:
         """

interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_robot/core.py

@@ -28,7 +28,6 @@
 
 """Contains the `InterbotixRobotXSCore` class that interfaces with the interbotix_xs_sdk."""
 
-from asyncio import Future
 import copy
 import sys
 from threading import Lock
@@ -52,6 +51,7 @@
 from rclpy.duration import Duration
 from rclpy.logging import LoggingSeverity, set_logger_level
 from rclpy.node import Node
+from rclpy.task import Future
 from sensor_msgs.msg import JointState
 from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
 
@@ -456,9 +456,21 @@ def robot_spin_once_until_future_complete(
         timeout_sec: float = 0.1
     ) -> None:
         """
-        Spin the core's executor until the given future is complete within the timeout.
+        Spin the core's executor once until the given future is complete within the timeout.
 
         :param future: future to complete
         :timeout_sec: seconds to wait. defaults to 0.1 seconds
         """
         self.executor.spin_once_until_future_complete(future=future, timeout_sec=timeout_sec)
+
+    def robot_spin_until_future_complete(
+        self, future: Future,
+        timeout_sec: float = None
+    ) -> None:
+        """
+        Spin the core's executor until the given future is complete within the timeout.
+
+        :param future: future to complete
+        :timeout_sec: seconds to wait. defaults to None (no timeout)
+        """
+        self.executor.spin_until_future_complete(future=future, timeout_sec=timeout_sec)