From c814255af2afd29dff1ccca2f2fd07341da1cd21 Mon Sep 17 00:00:00 2001
From: Edvin <edj7467@gmail.com>
Date: Wed, 7 May 2025 12:28:00 +0200
Subject: Fixed left wheels reversing on shutdown

---
 arduino/arduino.ino | 19 ++++++++-----------
 main.py             |  6 ++----
 2 files changed, 10 insertions(+), 15 deletions(-)

diff --git a/arduino/arduino.ino b/arduino/arduino.ino
index 708fcec..425d82d 100644
--- a/arduino/arduino.ino
+++ b/arduino/arduino.ino
@@ -1,8 +1,8 @@
 #include <LiquidCrystal_I2C.h>
 
 // To H-bridges
-const int D1 = 10;
-const int D2 = 11;
+const int D1 = 9;
+const int D2 = 3;
 const int D3 = 6;
 const int D4 = 5;
 
@@ -16,8 +16,6 @@ LiquidCrystal_I2C lcd(0x27, 20, 4);
 int emptySpace = 0;
 
 void setup() {
-  pinMode(LED_PIN, OUTPUT);
-  digitalWrite(LED_PIN, HIGH);
 
   pinMode(D1, OUTPUT);
   pinMode(D2, OUTPUT);
@@ -84,15 +82,14 @@ void loop() {
 
   if (received.indexOf("Closing down") >= 0) {
     lcd.clear();
-    lcd.setCursor(2, 0);
-    lcd.print("AGV booting!");
+    lcd.setCursor(1, 0);
+    lcd.print("Shutting down!");
     received = "Dot dot dot dot";
 
-    Serial.end();
-
-    delay(5000);
-
-    Serial.begin(9600);
+    digitalWrite(D1, LOW);
+    digitalWrite(D2, LOW);
+    digitalWrite(D3, LOW);
+    digitalWrite(D4, LOW);
   }
 
   if (received.indexOf("Forward") >= 0) { // Forward
diff --git a/main.py b/main.py
index f26c89d..fde3ff2 100755
--- a/main.py
+++ b/main.py
@@ -16,14 +16,14 @@ GPIO.setup(LED, GPIO.OUT)
 GPIO.output(LED, False)
 
 # DWM Process Code
-DWMProcess = subprocess.Popen(["/home/pi/venv/bin/python", "-u", "/home/pi/TNE107-RPI/DWM.py"], stdout=subprocess.PIPE, text=True)
+DWMProcess = subprocess.Popen(["/home/pi/venv/bin/python", "-u", "/home/pi/TNE107-RPI/DWM.py"], stdout=subprocess.PIPE, stderr=open(os.devnull, 'wb'), text=True)
 print(f"DWM PID: {DWMProcess.pid}")
 
 # Open serial port to Arduino Nano
 NANO = serial.Serial('/dev/ttyUSB1', 115200, timeout=1)
 sleep(2)
 
-BluetoothProcess = subprocess.Popen(["python", "-u", "/home/pi/TNE107-RPI/bt.py"], stdout=subprocess.PIPE, text=True)
+BluetoothProcess = subprocess.Popen(["python", "-u", "/home/pi/TNE107-RPI/bt.py"], stdout=subprocess.PIPE, stderr=open(os.devnull, 'wb'), text=True)
 
 # Waiting on connection
 NANO.write(b"Bluetooth up\n")
@@ -227,5 +227,3 @@ if bto.find("Connected") != -1:
 
 print("Terminating Bluetooth Process")
 os.kill(BluetoothProcess.pid, signal.SIGINT)
-
-# def calc_turn(desiredDirection, currentDirection):
-- 
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