def __init__(self, parent=None): super(MainWindow, self).__init__(parent) self.setupUi(self) try: QMessageBox.warning( self, 'Warning', 'This Gui is for advance user only, If not use correctly it can damage the robot.\n When this Gui thurn on the RiCBoad will stop its functionality until you exit the gui.' ) self._protocol_handler = ProtocolHandler('RiCBoard') self._protocol_handler.in_config_mode() self._forwardClib = True self._turnClib = True self._old_forward_slide_max = 2000 self._old_forward_slide_mid = 1500 self._old_forward_slide_min = 1000 self._old_turn_slide_max = 2000 self._old_turn_slide_mid = 1500 self._old_turn_slide_min = 1000 self.finished.connect(self.on_close) self.saveBT.clicked.connect(self.on_save) self.loadBT.clicked.connect(self.on_load) self.leftClib.clicked.connect(self.on_forward_clib) self.leftSet.clicked.connect(self.on_forward_set) self.rightClib.clicked.connect(self.on_turn_clib) self.rightSet.clicked.connect(self.on_turn_set) self.leftClibSp.rangeChanged.connect(self.on_forward_range_change) self.leftClibSp.valueChanged.connect( self.on_forward_slide_value_change) self.righClibSp.rangeChanged.connect(self.on_turn_range_change) self.righClibSp.valueChanged.connect( self.on_turn_slide_value_change) self.forwardHelpB.clicked.connect(self.on_help_calib) self.turnHelpB.clicked.connect(self.on_help_calib) except serial.SerialException: QMessageBox.critical( self, "Error ", "can not connect to the device, please check if its connected to the computer." )