#------------------Initial values -----------------
#for speeds and postition calculations
max_speed = 12 * 2 * pi
last_raw_angle = 0.
raw_angle = 0.
angle = 0.
rads = 0.
value = 33
cmd_speed = 0.0
stm32_1 = motor_position()
stm32_2 = motor_position()
motor = motor_tools()
while True:
#-------------------Confirming stm32_1_position from yarp bottles-----------
stm32_1 = motor.checking_motor_position('1', stm32_1, in_1, in_1_name)
stm32_2 = motor.checking_motor_position('2', stm32_2, in_2, in_2_name)
#------------Connecting to the serial port---------------------
#initial connection
motor.connecting_to_stm32(3, stm32_1.serial, stm32_2.serial, 0, 0)
#-----------------------------
try:
last_raw_angle=0.
raw_angle=0.
angle=0.
rads=0.
value=33
cmd_speed=0.0
#for serial port
stm32_position='0'
serial_device_counter=0
connected=False
motor=motor_tools()
while True:
#------------Connecting to the serial port---------------------
motor.connecting_to_stm32(1,0,0,0,0)
#-----------------------------
try:
while motor.connected==True:
motor.serial_port_communication(motor,cmd_speed,value)
#-----------connected to STM32 1----------