73 lines
2.4 KiB
Python
73 lines
2.4 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
|
|||
|
|
|
|||
|
|
class Arduino_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)
|
|||
|
|
self.ser_com5 = serial.Serial('COM4', 9600, timeout=1)
|
|||
|
|
self.run_flag = False
|
|||
|
|
self.img_count=0
|
|||
|
|
self.move_count=0
|
|||
|
|
def run(self):
|
|||
|
|
time.sleep(2)
|
|||
|
|
print("Arduino 已連線")
|
|||
|
|
self.Home()
|
|||
|
|
while True:
|
|||
|
|
if self.run_flag:
|
|||
|
|
while True:
|
|||
|
|
message = self.ser_com5.readline().decode().strip()
|
|||
|
|
if message == "Turn_finsh":
|
|||
|
|
if self.img_count == 21:
|
|||
|
|
self.move_one_fov()
|
|||
|
|
else:
|
|||
|
|
time.sleep(0.02)
|
|||
|
|
self.sinOut.emit('Turn_finsh')
|
|||
|
|
if message == "Motor_finsh":
|
|||
|
|
if self.move_count <= 5:
|
|||
|
|
self.sinOut.emit('Motor_finsh')
|
|||
|
|
time.sleep(0.1)
|
|||
|
|
self.turn_one_angle()
|
|||
|
|
else:
|
|||
|
|
self.move_count = 0
|
|||
|
|
self.sinOut.emit('end')
|
|||
|
|
|
|||
|
|
|
|||
|
|
if message == "Motor_in_End":
|
|||
|
|
print(message)
|
|||
|
|
self.sinOut.emit('Motor_finsh')
|
|||
|
|
if message == "Motor_in_Home":
|
|||
|
|
print(message)
|
|||
|
|
self.sinOut.emit('Motor_in_Home')
|
|||
|
|
self.run_flag = False
|
|||
|
|
break
|
|||
|
|
|
|||
|
|
time.sleep(0.05)
|
|||
|
|
def start_run(self):
|
|||
|
|
print("已自動發送命令给Arduino！")
|
|||
|
|
self.run_flag = True
|
|||
|
|
self.turn_one_angle()
|
|||
|
|
|
|||
|
|
def turn_one_angle(self):
|
|||
|
|
self.img_count = self.img_count+1
|
|||
|
|
self.ser_com5.write(b'turn_one_angle\n')
|
|||
|
|
|
|||
|
|
def move_one_fov(self):
|
|||
|
|
self.ser_com5.write(b'move_one_fov\n')
|
|||
|
|
self.move_count = self.move_count+1
|
|||
|
|
self.img_count = 0
|
|||
|
|
|
|||
|
|
def Home(self):
|
|||
|
|
self.ser_com5.write(b'move_home\n')
|
|||
|
|
self.run_flag = True
|
|||
|
|
print("已自動發送命令给USB COM5！")
|
|||
|
|
|
|||
|
|
|