Hardware Connection fix

ArduinoCommunication.py

@@ -11,7 +11,7 @@ class ArduinoCommunication(Thread):
     def __init__(self, port=cfg.port, baudrate=cfg.baudrate, timeout=cfg.comm_timeout):
         super().__init__()
         self.daemon = True  # Thread schlie�t sich beim Programmende
-        self.serial_conn  = serial.Serial(port, baudrate, timeout=timeout)
+        self.serial_conn = serial.Serial(port, baudrate, timeout=timeout)
         time.sleep(2)  # Warten bis Arduino ready
 
         self.command_queue = Queue()
@@ -19,6 +19,9 @@ class ArduinoCommunication(Thread):
         self.running = Event()
         self.running.set()
 
+    def send_motion(self, radial_array):
+        self.write(radial_array)
+
     def run(self):
         while self.running.is_set():
             # 1. Befehle senden
@@ -70,5 +73,12 @@ class ArduinoCommunication(Thread):
 
     def stop(self):
         self.running.clear()
-        self.join()
-        self.serial_conn.close()
+        try:
+            self.join(timeout=0.5)
+        except RuntimeError:
+            pass
+        if self.serial_conn and self.serial_conn.is_open:
+            self.serial_conn.close()
+
+    def close(self):
+        self.stop()