Slight improvements

spider-host/main.go

@@ -75,11 +75,18 @@ func subscribe(client mqtt.Client, topic string, handler mqtt.MessageHandler) {
 	}
 }
 
+func onConnect(client mqtt.Client) {
+	log.Print("Subscribing to command topics")
+	subscribe(client, "spider/command/ping", onPing)
+	subscribe(client, "spider/command/set_camera_xy", onSetCameraXY)
+}
+
 func main() {
 	opts := mqtt.NewClientOptions()
 	opts.AddBroker(broker)
 	opts.SetClientID("spider-host-client")
 	opts.SetResumeSubs(true)
+	opts.SetOnConnectHandler(onConnect)
 	client := mqtt.NewClient(opts)
 
 	token := client.Connect()
@@ -88,10 +95,6 @@ func main() {
 		log.Fatalf("Error connecting to MQTT broker: %v\n", token.Error())
 	}
 
-	log.Print("Subscribing to command topics")
-	subscribe(client, "spider/command/ping", onPing)
-	subscribe(client, "spider/command/set_camera_xy", onSetCameraXY)
-
 	InitBattery()
 	InitServo()
 

spider-host/servo.go

@@ -52,6 +52,7 @@ func InitServo() {
 	}
 	// Halt the controllers to stop any current movement
 	ServosOff()
+	log.Print("Started servos")
 }
 
 func ServosOff() {