Dear Solo Team,

I am trying to implement joystick control of a BLDC motor using the SOLO Uno v.2.

My setup follows the tutorial https://www.solomotorcontrollers.com/blog/speed-controlling-bldc-raspberry-pi-hall-sensors/

The Piano Switch PIN NO# 5 is down. 

My code is attached below.

The issue: after running the code I receive the following error:

2023-02-06 23:33:55, 784 - SoloPy - ERROR - serial_open: Exception during the serial inizialisation

2023-02-06 23:33:55, 786 - SoloPy - INFO - Serial status not ready

The error continues cycling through the code

import SoloPy as solo
import sys
import pygame
from time import sleep
from pygame.constants import JOYBUTTONDOWN

#Define the motor settings
currentlimit = 8
pwmfrequency = 20
polecount = 8

#Define PID settings for motor controller
kp = 0.5
ki = 0.001

# Initialize the SOLO object 
mySolo = solo.SoloMotorControllerUart("/dev/ttyS0", 0, solo.UART_BAUD_RATE.RATE_937500)

# wait here till communication is established
while mySolo.serial_is_working() == False:
    sleep(1)
print("Communication Established successfully!")

# Initial Configurations
mySolo.set_command_mode(solo.COMMAND_MODE.DIGITAL)
mySolo.set_motor_type(solo.MOTOR_TYPE.BLDC_PMSM)
mySolo.set_output_pwm_frequency_khz(pwmfrequency)
mySolo.set_current_limit(currentlimit)

# run the motor identification
# run ID. always after selecting the Motor Type!
print("\n Identifying the Motor")
mySolo.motor_parameters_identification(solo.ACTION.START)
# wait at least for 2sec till ID. is done
sleep(3)

# Speed Controller Tunings
mySolo.set_speed_controller_kp(kp)
mySolo.set_speed_controller_ki(ki)
# Initial Configurations end

pygame.init()

joysticks = []
for i in range(0, pygame.joystick.get_count()):
    joysticks.append(pygame.joystick.Joystick(i))
    joysticks[-1].init()
    
# Print out the name of the controller
print(pygame.joystick.Joystick(0).get_name())
print(pygame.joystick.Joystick(0).get_numbuttons(), 'buttons available on the controller')
print(pygame.joystick.Joystick(0).get_numaxes(), 'axes available on the controller')

# Xbox Button Numbers:
# Button 0 - A
# Button 1 - B
# Button 2 - X
# Button 3 -
# Button 4 - Y
# Button 5 - RB
# Button 6 - View
# Button 7 - Menu
# Button 8 - XBox button
# Button 9 - LSB
# Button 10 - RSB
# Button 11 - 

# Main Loop
while True or KeyboardInterrupt:

    # Check for joystick events
    for event in pygame.event.get():
        if event.type ==JOYBUTTONDOWN:
            if event.button == 0:
                print("button 0 down")
            if event.button == 1:
                print("button 1 down")
            if event.button == 2:
                print("button 2 down")
            if event.button == 3:
                print("button 4 down")
            if event.button == 5:
                print("Braking...")
                #mySolo.set_speed_reference(0)
                sleep(5)
            if event.button == 6:
                print("button 6 down")
            if event.button == 7:
                print("button 7 down")
            if event.button == 8:
                print("button 8 down")
            if event.button == 9:
                print("button 9 down")
            if event.button == 10:
                print("button 10 down")
            if event.button == 11:
                print("button 11 down")

# Xbox Joystick Axis:
# Axis 0 up down, down value is -1, up value is 1
# Axis 1 Left, Right, Left value is: -1, right value is 1
# center is always 0

        if event.type == pygame.JOYAXISMOTION:
            if event.axis < 2: # Left stick
                if event.axis == 0: # left/right
                    if event.value < -0.5:
                        print("left")
                    #motor_speed = event.value * -1
                    #print(f"motor_speed: {motor_speed}")
                    #explorerhat.motor.one.backwards()
                    #explorerhat.motor.two.forwards()
                        sleep(0.01)
                    #explorerhat.motor.one.stop()
                    #explorerhat.motor.two.stop()
                    if event.value > 0.5:
                        print("right")                        
                    #explorerhat.motor.one.forwards()
                    #explorerhat.motor.two.backwards()
                        sleep(0.01)
                    #explorerhat.motor.one.stop()
                    #explorerhat.motor.two.stop()
                if event.axis == 1: # up/down
                    if event.value < -0.5:
                        print("up")
                    #explorerhat.motor.one.forwards()
                    #explorerhat.motor.two.forwards()
                        mySolo.set_motor_direction(solo.DIRECTION.CLOCKWISE)
                        mySolo.set_speed_reference(2000)
                        print("Actual Motor Iq: "+ str(mySolo.get_quadrature_current_iq_feedback()))
                        print("Motor Speed: " + str(mySolo.get_speed_feedback()))
                        sleep(0.25)
                    #explorerhat.motor.one.stop()
                    #explorerhat.motor.two.stop()
                        
                    if event.value > 0.5:
                        print("down")
                    #explorerhat.motor.one.backwards()
                    #explorerhat.motor.two.backwards()
                        mySolo.set_motor_direction(solo.DIRECTION.COUNTERCLOCKWISE)
                        mySolo.set_speed_reference(2000)
                        print("Actual Motor Iq: "+ str(mySolo.get_quadrature_current_iq_feedback()))
                        print("Motor Speed: " + str(mySolo.get_speed_feedback()))
                        sleep(0.25)