Move imports to after connection, add service files to pi

camera.service

@@ -0,0 +1,13 @@
+[Unit]
+Description=UDP Camera Stream
+After=network.target auditd.service media-writable.mount 
+Requires=media-writable.mount
+
+[Service]
+ExecStart=/media/writable/run.sh
+Restart=always
+Type=idle
+User=pi
+
+[Install]
+WantedBy=multi-user.target

client.service

@@ -0,0 +1,15 @@
+[Unit]
+Description=Python Sorting Client
+After=network.target auditd.service media-writable.mount 
+Requires=media-writable.mount
+
+[Service]
+ExecStart=/media/writable/item-sort/pi_client.py
+Restart=always
+Type=idle
+User=root
+StartLimitIntervalSec=0
+RestartSec=5
+WorkingDirectory=/media/writable/item-sort
+[Install]
+WantedBy=multi-user.target

control_motor.py

@@ -16,6 +16,8 @@ time.sleep(2)
 ser.write(b'$RST=#\n')
 time.sleep(1)
 ser.flushInput()
+time.sleep(0.25)
+ser.write(b'$X\n')
 print("[ INFO ] Grbl is ready.")
 
 def goToBin(bin):
@@ -27,17 +29,17 @@ def goToBin(bin):
         adjustedBin = 0;
     distance = adjustedBin * 18
     delay = 0.5 + 0.93 * adjustedBin
-    command = 'G0 X-'
+    command = '$J=X-'
     command += str(distance)
+    command += ' F2000'
     print("[ INFO ] Sending command to Grbl: " + command)
     command += '\n'
-    ser.write(b'$X\n')
     time.sleep(0.25)
     ser.write(command.encode('utf-8'))
     # s.write("$C\n")
     while True:
         grbl_out = str(ser.readline().strip()) # Wait for grbl response with carriage return
-        #print(grbl_out.find('error'))
+        print(grbl_out)
         if int(grbl_out.find('error')) >= 0 :
             print("[ EXIT ] Grbl reported an error.")
             quit()
@@ -55,10 +57,10 @@ def goToBin(bin):
         print("[ INFO ] Titling motor to right side.")
         pwm.ChangeDutyCycle(25)
         time.sleep(1)
-        pwm.ChangeDutyCycle(13)
+        pwm.ChangeDutyCycle(14)
     time.sleep(1)
     print("[ INFO ] Sending command to Grbl: G0 X0")
-    ser.write(b'G0 X0\n')
+    ser.write(b'$j=X0 F2000\n')
     while True:
         grbl_out = str(ser.readline().strip()) # Wait for grbl response with carriage return
         if int(grbl_out.find('error')) >= 0 :
@@ -70,8 +72,30 @@ def goToBin(bin):
     print("[ INFO ] Waiting for " + str(delay) + " seconds.")
     time.sleep(delay)
 def stopInput():
-    command = str(0x85)    
+    command = '!'
     command += '\n'
     ser.write(command.encode('utf-8'))
+    print(command)
+    #command2 = str(0x85)
+    #ser.write(command2.encode('utf-8'))
+    #while True:
+    #    grbl_out = str(ser.readline().strip()) # Wait for grbl response with carriage return
+    #    if int(grbl_out.find('error')) >= 0 :
+    #        print("[ EXIT ] Grbl reported an error.")
+    #        quit()
+    #    elif int(grbl_out.find('ok')) >= 0 :
+    #        if verbose: print('[ INFO ] Grbl message: ',grbl_out)
+    #        break
 def startInput():
     ser.write(b'$J=G91 Y-5000 F400\n')
+    print("intake")
+    #x = 0
+    #while True and x < 10:
+        #x += 1
+        #grbl_out = str(ser.readline().strip()) # Wait for grbl response with carriage return
+        #if int(grbl_out.find('error')) >= 0 :
+        #    print("[ EXIT ] Grbl reported an error.")
+        #    quit()
+        #elif int(grbl_out.find('ok')) >= 0 :
+        #    if verbose: print('[ INFO ] Grbl message: ',grbl_out)
+        #    break

control_pixel.py

@@ -1,7 +1,7 @@
 import board
 import neopixel
-pixels = neopixel.NeoPixel(board.D18, 24)
+pixels = neopixel.NeoPixel(board.D18, 23)
 def ledOff():
         pixels.fill((0,0,0))
 def ledOn():
-        pixels.fill((40,40,40))
+        pixels.fill((2,2,2))

pi_client.py

@@ -1,13 +1,13 @@
+#!/usr/bin/python3
 import socket
-import sort
+host = "192.168.1.249" # socket.gethostname()
-import control_motor
-import control_pixel
-
-host = "192.168.1.248" # socket.gethostname()
 port = 9001                   # The same port as used by the server
 s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
 s.connect((host, port))
 s.sendall(b'Connected to server!')
+import sort
+import control_motor
+import control_pixel
 control_pixel.ledOn()
 while True:
     control_pixel.ledOn()

run.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+cd /media/writable/MIPI_Camera/RPI
+./video2stdout | gst-launch-1.0 -v fdsrc !  h264parse ! rtph264pay config-interval=10 pt=96 ! udpsink host=192.168.1.249 port=9000