From 32eb17ab4629cc4d67b2b4f344e42da0ce4c870e Mon Sep 17 00:00:00 2001
From: Joe DiPrima <epilectrik@gmail.com>
Date: Thu, 19 Feb 2026 14:46:26 -0600
Subject: [PATCH] Fix NameError crash: current_time not defined on first
 tracking iteration

webcam rate-limiting used current_time before it was assigned on the
first loop iteration after START. Set current_time = start_time at
top of every loop iteration.

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
---
 teleop/teleop_hand_and_arm.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/teleop/teleop_hand_and_arm.py b/teleop/teleop_hand_and_arm.py
index f0ce2ae..5f0e9bb 100644
--- a/teleop/teleop_hand_and_arm.py
+++ b/teleop/teleop_hand_and_arm.py
@@ -471,6 +471,7 @@ if __name__ == '__main__':
         # main loop. robot start to follow VR user's motion
         while not STOP:
             start_time = time.time()
+            current_time = start_time  # Available everywhere in loop body
 
             # handle arm reset request
             if RESET_ARMS: