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)
Example #3
0
    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)
Example #4
0
    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)
Example #5
0
 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)
Example #6
0
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():
Example #7
0
 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)