def exit(self):
        print("PiCamera is closed.")
        print("GPIO pins have been released")
        self.destroy()


class StartPage(tk.Frame):
    def __init__(self, parent, controller):
        """Initiate parent class"""
        tk.Frame.__init__(self, parent)
        self.configure(background="#0063FF")
        self.controller = controller

        """Initializing scanning pattern variables"""
        self.refresh_delay_milli = 1500
        self.n_x_steps = 9
        self.n_y_steps = 9
        self.x_step_size = 2  # in cms
        self.y_step_size = 2  # in cms
        self.grid_panel = np.zeros((self.n_x_steps+1, self.n_y_steps+1))
        self.target_list = [(i, j) for i in self.x_step_size*np.arange(self.n_x_steps+1)
                            for j in self.y_step_size*np.arange(self.n_y_steps+1)]
        self.refresh_timestamp = time()

        self.grid_panel[2][7] = 1
        self.grid_panel[6][3] = 1
        self.grid_panel[5][9] = 1
        self.grid_panel[8][1] = 1

        """GPIO pins"""

        """Initialize Peripherals"""

        """Coordinate initialization"""
        self.curr_x = 0
        self.curr_y = 0
        self.curr_z = 0
        self.ysonic = ''    # Either LEFT or RIGHT
        self.first_coord_fetch_flag = True  # The first fetched coordinates will be used for setting Origin

        """Origin"""
        self.x_0 = 0
        self.y_0 = 0
        self.z_0 = 25

        """Target Coordinates"""
        # self.x_target = 0
        # self.y_target = 0
        # self.z_target = 0
        self.x_max = self.x_step_size * self.n_x_steps
        self.x_min = 0
        self.y_max = self.y_step_size * self.n_y_steps
        self.y_min = 0
        # self.target_update_flag_x = 0
        # self.target_update_flag_y = 0
        # self.top_to_bottom_flag = 0

        """Tolerance"""
        self.tolerance = 1.5  # in cms
        self.tolerance_z = 3  # in cms

        """Start and Stop Flags"""
        self.start_instruction_flag = 1
        self.stop_instruction_flag = 0
        # self.held_timer_start_flag = 1
        # self.held_start_time = 0
        # self.total_time_held = 0
        # self.hold_on_time_threshold = 3
        self.scan_shot_time = 1  # Assuming scanning and storing takes 1 sec
        # self.show_scanned_time_start = 0
        # self.show_scanned_time = 2
        self.calibration_flag = 1

        """Initialize Direction and Status Panel Frames"""
        self.dir_panel = DirectionPanel(self, controller)
        #self.dir_panel.grid(column=self.grid_panel.shape[0], rowspan = self.grid_panel.shape[1], padx = 50)
        self.dir_panel.grid(columnspan = 20, rowspan = 15, padx = 100, pady= 130)

        #Manual Spacers#
        tk.Label(self, text = " ", bg = "#0063FF").grid(column = 21, padx = 25)
        tk.Label(self, text = " ", bg = "#0063FF").grid(row = 0,pady = 3)

        #self.numGrid = numGrid(self, controller)
        #self.numGrid.grid()
        for r in range(self.grid_panel.shape[1]):
            for c in range(self.grid_panel.shape[0]):
                # if(int(self.grid_panel[c][r] == 0)):
                #     tk.Label(self, text=int(self.grid_panel[c][r]), font = ("Helvetica", fontsize), padx = 10, bg = "#8a0404",
                #     borderwidth=2 ).grid(row=r+1,column=c+22)
                # else:
                #     tk.Label(self, text=int(self.grid_panel[c][r]), font = ("Helvetica", fontsize), padx = 10, bg = "yellow",
                #     borderwidth=2 ).grid(row=r+1,column=c+22)
                if(int(self.grid_panel[c][r] == 0)):
                    tk.Label(self, text="   ", font = ("Helvetica", fontsize), padx = 10, bg = "#8a0404",
                    borderwidth=2, relief = "solid" ).grid(row=r+1,column=c+22)
                else:
                    tk.Label(self, text="   ", font = ("Helvetica", fontsize), padx = 10, bg = "yellow",
                    borderwidth=2, relief = "solid" ).grid(row=r+1,column=c+22)

        # self.status_panel = ScanStatusPanel(self, controller)
        # self.status_panel.pack(side="right", fill="both", expand=True)