sensor = SR04(33, 35)
panTilt = PanTiltDriver()
piCam = picamera.PiCamera()
# Init some params
panStepSize = 10.0 # In Degrees
tiltStepSize = 5.0 # In Degrees
panStepDuration = 0.5 # In seconds
tiltStepDuration = 0.5 # In seconds
currentPanAngle = 0.0
currentTiltAngle = 0.0
# Go to initial position
panTilt.panLeft()
time.sleep(panStepDuration)
panTilt.tiltUp()
time.sleep(panStepDuration)
# Take a 180 degree sweep
measurements = []
try:
while currentTiltAngle <= 45.0:
while currentPanAngle < 180.0:
# Take measurement and add it to the list
imageFilePath = currentMappingDir + "/" + str(time.time()) + ".jpg"
piCam.capture(imageFilePath)
distance = sensor.getDistanceCM()
measurement = Measurement(currentPanAngle, currentTiltAngle, distance, imageFilePath)
measurements.append(measurement)
# Continue sweep
