def setHome(self):
self.cont_rob = ct.Control()
dc_port = 'COM18'
# dc_port = input("COM port for dc motor: ")
# print(type(dc_port))
self.serialPort = self.cont_rob.OpenSerialPort(dc_port)
if self.serialPort == None: sys.exit(1)
self.cont_rob.setHome(self.serialPort)
def Robot(self, queue, serialPort, stopped):
print("Hair transplant process is starting!")
serialPort.timeout = 1.0
while not stopped.is_set():
try:
robot = ct.Control()
while True:
distance = queue.get()
# distance = ([2.5413621708824894, 3.496339433599953])
robot.Motors_Control(serialPort, distance)
except:
exctype, errorMsg = sys.exc_info()[:2]
print("Error reading port - %s" % errorMsg)
stopped.set()
break
# serialPort.close()
print("...Hair transplant process is finished...")
def Robot(queue, serialPort, stopped):
print("Hair transplant process is starting!")
serialPort.timeout = 1.0
while not stopped.is_set():
try:
robot = ct.Control()
while True:
for i in range(1, 4):
# distance = queue.get()
distance = ([1 + i, 1 + i])
robot.Motors_Control(serialPort, distance)
except:
exctype, errorMsg = sys.exc_info()[:2]
print("Error reading port - %s" % errorMsg)
stopped.set()
break
# serialPort.close()
print("...Hair transplant process is finished...")
robot = ct.Control()
while True:
for i in range(1, 4):
# distance = queue.get()
distance = ([1 + i, 1 + i])
robot.Motors_Control(serialPort, distance)
except:
exctype, errorMsg = sys.exc_info()[:2]
print("Error reading port - %s" % errorMsg)
stopped.set()
break
# serialPort.close()
print("...Hair transplant process is finished...")
robot = ct.Control()
serialPort = robot.OpenSerialPort('COM15')
if serialPort == None: sys.exit(1)
robot.setHome(serialPort)
queue = multiprocessing.Queue()
stopped = threading.Event()
p1_ = threading.Thread(target=gui, args=(queue, ))
# p2_ = threading.Thread(target=dxl_motor, args=(queue, ))
p2_ = threading.Thread(target=Robot, args=(
queue,
serialPort,
stopped,
))