def METHOD_NAME(self):
    self._rx_servo_thread.start()
    self._rx_imu_thread.start()
    print("TX THREAD CALLER")
    self._tx_servo_thread.start()
    tx_cycle = WaitForMs(10)
    tx_cycle.set_e_gain(1.5)
    # Never need to wait longer than the target time, but allow calls to
    # time.sleep for down to 3 ms less than the desired time
    tx_cycle.set_e_lim(0, -3.0)
    rp.spin()