I'm trying to use STEM to rotate IPs and running into this error every time. Here's the code I'sm using:

from stem import Signal
from stem.control import Controller
from selenium import webdriver
from selenium.webdriver.firefox.options import Options
from bs4 import BeautifulSoup

# signal TOR for a new connection
def switchIP():
    with Controller.from_port(port=9051) as controller:

# get a new selenium webdriver with tor as the proxy
def my_proxy(PROXY_HOST, PROXY_PORT):
    fp = webdriver.FirefoxProfile()
    # Direct = 0, Manual = 1, PAC = 2, AUTODETECT = 4, SYSTEM = 5
    fp.set_preference("network.proxy.type", 1)
    fp.set_preference("network.proxy.socks", PROXY_HOST)
    fp.set_preference("network.proxy.socks_port", int(PROXY_PORT))
    options = Options()
    options.headless = True
    return webdriver.Firefox(options=options, firefox_profile=fp)

for x in range(10):
    proxy = my_proxy("", 9050)
    html = proxy.page_source
    soup = BeautifulSoup(html, 'lxml')
    print(soup.find("span", {"id": "ipv4"}))
    print(soup.find("span", {"id": "ipv6"}))

The first time it runs I get the IP just fine but I'm getting the error message on the line

with Controller.from_port(port=9051) as controller:

I have the ControlPort and CookieAuthentication lines uncommented in my torrc so I know that's not the problem.

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