54 lines
1.8 KiB
Python
54 lines
1.8 KiB
Python
|
from PyQt5.QtWidgets import QWidget, QFileDialog,QMainWindow, QLabel, QSizePolicy, QApplication, QAction, QHBoxLayout
|
|||
|
|
from PyQt5.QtCore import *
|
|||
|
|
from PyQt5 import QtCore, QtGui, QtWidgets
|
|||
|
|
import sys
|
|||
|
|
# 串口通信
|
|||
|
|
import serial
|
|||
|
|
import time
|
|||
|
|
import threading
|
|||
|
|
import torch
|
|||
|
|
|
|||
|
|
# 平移(COM4)
|
|||
|
|
class Pan_class(QtCore.QThread):
|
|||
|
|
sinOut = pyqtSignal(str) # 聲明一個帶字串參數的信號
|
|||
|
|
def __init__(self, parent=None):
|
|||
|
|
super().__init__(parent)
|
|||
|
|
# 打开串口COM4，波特率为250000
|
|||
|
|
# self.ser_com4 = serial.Serial('COM4', 9600, timeout=1)
|
|||
|
|
# time.sleep(2)
|
|||
|
|
# print("USB COM4的操作已完成。")
|
|||
|
|
# self.flag = False
|
|||
|
|
|
|||
|
|
def run(self):
|
|||
|
|
# 打开串口COM4，波特率为250000
|
|||
|
|
self.ser_com4 = serial.Serial('COM4', 9600, timeout=1)
|
|||
|
|
time.sleep(2)
|
|||
|
|
print("USB COM4的操作已完成。")
|
|||
|
|
self.move_home()
|
|||
|
|
self.flag = False
|
|||
|
|
while True:
|
|||
|
|
message = self.ser_com4.readline().decode().strip()
|
|||
|
|
# print(str(message))
|
|||
|
|
if str(message) =="Motor emergency stop 010":
|
|||
|
|
self.sinOut.emit('Motor emergency stop 010')
|
|||
|
|
if str(message) =="Motor emergency stop 100":
|
|||
|
|
self.sinOut.emit('Motor emergency stop 100')
|
|||
|
|
if self.flag == True:
|
|||
|
|
self.ser_com4.write(b'1\n')
|
|||
|
|
time.sleep(0.02)
|
|||
|
|
self.flag = False
|
|||
|
|
time.sleep(1.5)
|
|||
|
|
self.sinOut.emit('move_end')
|
|||
|
|
time.sleep(0.05)
|
|||
|
|
|
|||
|
|
|
|||
|
|
def move(self):
|
|||
|
|
# 自动发送命令给COM4中的Arduino
|
|||
|
|
# self.ser_com4.write(b'1\n')
|
|||
|
|
self.flag = True
|
|||
|
|
print("已自動發送命令给USB COM4！")
|
|||
|
|
|
|||
|
|
def move_home(self):
|
|||
|
|
# time.sleep(0.02)
|
|||
|
|
self.ser_com4.write(b'2\n')
|