# Create xml mapping file
mappingFilePath = currentMappingDir + "/mapping.json"
open(mappingFilePath, 'w')
# Init the hardware
sensor = SR04(33, 35)
panTilt = PanTiltDriver()
piCam = picamera.PiCamera()
# Init some params
sweepStepSize = 30.0 # In Degrees
sweepStepDuration = 0.5 # In seconds
currentPanAngle = 0.0
# Go to initial position
panTilt.panLeft()
time.sleep(sweepStepDuration)
panTilt.tiltDown()
time.sleep(sweepStepDuration)
# Take a 180 degree sweep
measurements = []
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, 0.0, distance, imageFilePath)
measurements.append(measurement)
