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