def __init__(self, DIST_MIN, DIST_MAX): self.DIST_MIN = DIST_MIN self.DIST_MAX = DIST_MAX self.SCAN_SIZE = 360 # number of points per scan POINTS_PER_SEC = 1980 # 1980points/sec * scan/360points [scans/sec] self.SCAN_RATE_HZ = float(POINTS_PER_SEC)/self.SCAN_SIZE # 1980points/sec * scan/360points [scans/sec] SCAN_DETECTION_ANGLE = 360 SCAN_DISTANCE_NO_DETECTION_MM = self.DIST_MAX SCAN_DETECTION_MARGIN = 0 LASER_OFFSET_MM = -35 Laser.__init__(self, \ self.SCAN_SIZE, \ self.SCAN_RATE_HZ, \ SCAN_DETECTION_ANGLE, \ SCAN_DISTANCE_NO_DETECTION_MM, \ SCAN_DETECTION_MARGIN, \ LASER_OFFSET_MM)
def __init__(self, DIST_MIN, DIST_MAX): self.DIST_MIN = DIST_MIN self.DIST_MAX = DIST_MAX self.SCAN_SIZE = 360 # number of points per scan self.SCAN_RATE_HZ = 8 # [Hz] self.POINTS_PER_SEC = self.SCAN_SIZE * self.SCAN_RATE_HZ # [points/sec] SCAN_DETECTION_ANGLE = 360 SCAN_DISTANCE_NO_DETECTION_MM = self.DIST_MAX SCAN_DETECTION_MARGIN = 0 LASER_OFFSET_MM = 0 # this value is distance behind center of robot # update() actually returns LIDAR unit position Laser.__init__(self, \ self.SCAN_SIZE, \ self.SCAN_RATE_HZ, \ SCAN_DETECTION_ANGLE, \ SCAN_DISTANCE_NO_DETECTION_MM, \ SCAN_DETECTION_MARGIN, \ LASER_OFFSET_MM)
def __init__(self, lidar_turret): self.map_size_pixels = 1600 self.map_size_meters = 50 self.trajectory = [] self.mapbytes = bytearray(self.map_size_pixels * self.map_size_pixels) self.laser = Laser(lidar_turret.point_cloud_size, 2.4, lidar_turret.detection_angle_degrees, 0) self.algorithm = RMHC_SLAM(self.laser, self.map_size_pixels, self.map_size_meters)
def __init__(self, DIST_MIN, DIST_MAX): self.DIST_MIN = DIST_MIN self.DIST_MAX = DIST_MAX self.SCAN_SIZE = 360 # number of points per scan POINTS_PER_SEC = 1980 # 1980points/sec * scan/360points [scans/sec] self.SCAN_RATE_HZ = float( POINTS_PER_SEC ) / self.SCAN_SIZE # 1980points/sec * scan/360points [scans/sec] SCAN_DETECTION_ANGLE = 360 SCAN_DISTANCE_NO_DETECTION_MM = self.DIST_MAX SCAN_DETECTION_MARGIN = 0 LASER_OFFSET_MM = -35 Laser.__init__(self, \ self.SCAN_SIZE, \ self.SCAN_RATE_HZ, \ SCAN_DETECTION_ANGLE, \ SCAN_DISTANCE_NO_DETECTION_MM, \ SCAN_DETECTION_MARGIN, \ LASER_OFFSET_MM)
def __init__(self, width, scan_rate_hz, viewangle, distance_no_detection_mm, detectionMargin, offsetMillimeters): Laser.__init__(self, width, scan_rate_hz, viewangle, distance_no_detection_mm, detectionMargin, offsetMillimeters)
from time import sleep from flask import Flask from flask_socketio import SocketIO, emit from flask_cors import CORS app = Flask(__name__) CORS(app) sock = SocketIO(app) from sweeppy import Sweep as sp from breezyslam.components import Laser from breezyslam.algorithms import RMHC_SLAM import json import sys lidar = Laser(200, 500, 360, 40000, 0, 0) slam = RMHC_SLAM(lidar, 800, 40) share = {'stuff': []} lock = Lock() def send(stuff): sock.emit('data', stuff) print("sent") def scan(): with sp("/dev/tty.usbserial-DM00LDB3") as sweep: while True: if sweep.get_motor_ready():