While loop for Ros Python Rosserial [closed]

edit

What can i do to avoid Ros from losing connection to arduino when using a while loop?

i have tried many methods and nothing worked.

When the program stays long in the turnToNorth position the rosserial connection is lost

Example of snippet code below:

#!/usr/bin/env python
import rospy
import time
from std_msgs.msg import String
from std_msgs.msg import Int32
from std_msgs.msg import Bool
from sensor_msgs.msg import Range
from marval.msg import l298n as l298n
from marval.msg import lsm303 as lsm303

subMotor = l298n()
subServo = String()
subStart = Bool()
motorData = l298n()
subCompass = lsm303()


motorSpeed = 23
irEdgeDistance = 1.0
usDistance = 0.15
moveAngle = 20.0
intervalTime = 0
startDirection = 0.0

def subStartC(data):
    global subStart 
    subStart = data

def subCompassC(data):
    global subCompass 
    subCompass = data

#Publishers
pubMotor = rospy.Publisher('motor_data', l298n, queue_size=10)

#Subscribers
rospy.Subscriber('start_data', Bool, subStartC)
rospy.Subscriber('compass_data', lsm303, subCompassC)


def moveRobot():
    turnToNorth()

def turnToNorth():
    global startDirection
    while (int(subCompass.angle) != int(startDirection) and not rospy.is_shutdown()):
        motorData.enA = motorSpeed
        motorData.enB = motorSpeed
        motorData.in1 = 0
        motorData.in2 = 1
        motorData.in3 = 1
        motorData.in4 = 0
        pubMotor.publish(motorData) 


def startRobot():
    #initiate node
    rospy.init_node('moveRobot', anonymous=True)
    rate = rospy.Rate(5) #hz
    while not rospy.is_shutdown():
        if(subStart.data == True):
            moveRobot()  #starting the robot movement
        else
            stopRobot() 
        rate.sleep()


if __name__ == '__main__':

        try:
            startRobot()

        except rospy.ROSInterruptException:
            pass`

Part 2 :(EDIT)

def turnToNorth():
    global startDirection
    while True:
        if(int(subCompass.angle) == int(startDirection)):
             break
        else:
               motorData.enA = motorSpeed
               motorData.enB = motorSpeed
               motorData.in1 = 0
               motorData.in2 = 1
               motorData.in3 = 1
               motorData.in4 = 0
               pubMotor.publish(motorData)