From eb479df1223a85695c262d3aa0b2e14edb974fc2 Mon Sep 17 00:00:00 2001
From: Cole Deck <cd109876@gmail.com>
Date: Wed, 18 Mar 2020 17:01:11 -0500
Subject: [PATCH] small tweaks

---
 __pycache__/detect.cpython-38.pyc | Bin 4881 -> 4850 bytes
 control_motor.py                  |   6 +++---
 run_detect.py                     |   6 ++++--
 sort.py                           |   4 ++--
 4 files changed, 9 insertions(+), 7 deletions(-)

diff --git a/__pycache__/detect.cpython-38.pyc b/__pycache__/detect.cpython-38.pyc
index ad8d2cc47b1b58412bf79802cfc45447f55e1736..2d326fd9732a1f70a1e4f3ec0ce93f6710f99587 100644
GIT binary patch
delta 80
zcmbQJ_DPjDl$V!_0SJ1tisJe<@|p`UvTSx0U}l^gBk0b^J$Z?s*W|B)whA&JHH=)0
fTr4b%e2hGd9E@5(tiUM1sKl(msKh=wOlUU%v_KAq

delta 88
zcmeyQI#G=`l$V!_0SNrli{g4V@|p`UN^Eu&U}h94;V$8-VQOY<W@Kb2;jUo@(UUy{
o-5Gf%PZ0ECzr|Wml$lpD`Iew9qrzkfAvsoN9%c^4$>u`40hc}$>i_@%

diff --git a/control_motor.py b/control_motor.py
index 3546d39..fe4a336 100644
--- a/control_motor.py
+++ b/control_motor.py
@@ -29,15 +29,15 @@ def goToBin(bin):
     delay = 0.5 + 0.93 * adjustedBin
     command = 'G0 X-'
     command += str(distance)
+    print("[ INFO ] Sending command to Grbl: " + command)
     command += '\n'
     ser.write(b'$X\n')
-    time.sleep(1)
-    print("[ INFO ] Sending command to Grbl: " + command)
+    time.sleep(0.25)
     ser.write(command.encode('utf-8'))
     # s.write("$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.find('error'))
         if int(grbl_out.find('error')) >= 0 :
             print("[ EXIT ] Grbl reported an error.")
             quit()
diff --git a/run_detect.py b/run_detect.py
index 01dda75..b88ed1f 100644
--- a/run_detect.py
+++ b/run_detect.py
@@ -47,6 +47,7 @@ else :
     host = ''        # Symbolic name meaning all available interfaces
     port = 9001     # Arbitrary non-privileged port
     s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
     #s.setsockopt(s, socket.SOL_SOCKET, socket.SO_REUSEADDR)
     s.bind((host, port))
     print("[ INFO ] TCP stream initialized. Waiting for client...")
@@ -80,7 +81,8 @@ else :
         #print('frame')
         if x > 1:
             ret,frame = capture.retrieve()
-            frame = frame[130:1120, 275:1350]
+            frame = frame[130:1100, 300:1300]
+            #frame = frame[170:900, 475:1100]
             items,output = detect.detect(calibration_width, frame, True, True)
             cv2.imshow('Item Sorter', output)
             x = 0
@@ -90,7 +92,7 @@ else :
                 valid = True
                 for item in items:
                     if item != itema:
-                        print("[ INFO ] More than one object present.")
+                        #print("[ INFO ] More than one object present.")
                         valid = False
                         break
                 if valid:
diff --git a/sort.py b/sort.py
index d17eb3d..0819300 100644
--- a/sort.py
+++ b/sort.py
@@ -21,8 +21,8 @@ def sort(input):
     if bins.count(input) == 0:
         bins.append(input)
     bin = bins.index(input)
-    print(str(bins))
-    print(bin)
+    #print(str(bins))
+    #print(bin)
     write(bins)
     return bin