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Minor changes to serial port enumeration and debug #6

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Minor changes to serial port enumeration and debug #6

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12 changes: 7 additions & 5 deletions PoMoCo/servotorComm.py
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Original file line number Diff line number Diff line change
Expand Up @@ -63,9 +63,9 @@ def run(self):
if self.ser.writable:
if self.serOpen:
self.ser.write(str(toSend))
print "Sent '%s' to COM%d"%(str(toSend).strip('\r'),self.serNum+1)
print "Sent '%s' to %s"%(str(toSend).strip('\r'),self.serNum)
if debug:
print "Sent '%s' to COM%d"%(str(toSend).strip('\r'),self.serNum+1)
print "Sent '%s' to %s"%(str(toSend).strip('\r'),self.serNum)

# Retrieve waiting responses
# TODO: Don't need reading yet, holding off on fully implementing it till needed.
Expand Down Expand Up @@ -94,6 +94,8 @@ def connect(self):
print "Attempting to connect to Servotor"
for port in comList:
try:
if debug :
print " Trying port ", port
ser = serial.Serial(port, baudrate= BAUD_RATE, timeout=2)
ser.write('V\n')
result = ser.readline()
Expand All @@ -102,7 +104,7 @@ def connect(self):
self.ser = ser
self.ser.flush()
self.serOpen = True
self.serNum = 1
self.serNum = port
break
except:
pass
Expand All @@ -126,7 +128,7 @@ def connect(self):
print "Connect Successful! Connected on port COM"+str(i+1)
ser.flush()
self.ser = ser
self.serNum = i
self.serNum = "COM"+str(i+1)
self.serOpen = True
break
else:
Expand Down Expand Up @@ -222,7 +224,7 @@ class Controller:
def __init__(self,servos=32):
self.serialHandler = serHandler()
timeout = time.time()
while not (self.serialHandler.serOpen or (time.time()-timeout > 10.0)):
while not (self.serialHandler.serOpen or (time.time()-timeout > 20.0)):
time.sleep(0.01)
if self.serialHandler.serOpen == False:
print "Connection to Servotor failed. No robot movement will occur."
Expand Down