small tweaks

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'$X\n')
-    time.sleep(1)
+    time.sleep(0.25)
-    print("[ INFO ] Sending command to Grbl: " + command)
     ser.write(command.encode('utf-8'))
     # s.write("$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()

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:

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(str(bins))
-    print(bin)
+    #print(bin)
     write(bins)
     return bin