def tf_mini():
tf = TFmini('/dev/tty A choisir !', mode=TFmini.STD_MODE)
try:
while True:
d = tf.read()
if d:
print('Distance: {:5}'.format(d))
else:
print('No valid response')
time.sleep(0.1)
except KeyboardInterrupt:
tf.close()
#!/usr/bin/env python
from __future__ import division, print_function
import rospy
import time
import smbus
from tfmini import TFmini
from std_msgs.msg import Float32
bus = smbus.SMBus(1) # 0 = /dev/i2c-0 (port I2C0), 1 = /dev/i2c-1 (port I2C1)
DEVICE_ADDRESS = 0x36 # 7 bit address (will be left shifted to add the read write bit)
tf = TFmini('/dev/ttyAMA0', mode=TFmini.STD_MODE) # ttyAMA0 = hardware serial
def readAngle(): # Read angle value from AS5600
bus.write_byte_data(DEVICE_ADDRESS, 0x0D, DEVICE_ADDRESS)
bus.write_byte_data(DEVICE_ADDRESS, 0x0D, 0x1)
position_angle = float((bus.read_word_data(DEVICE_ADDRESS, 0x0D)*360)/4096)
return position_angle
def readDistance(): # Read distance value from TFmini lidar
d = tf.read()
if d:
return d
else:
return -1
###############################################################################################
if __name__=='__main__':
rospy.init_node('lidar')
lidar = rospy.Publisher('lidar', Float32, queue_size=10)
rate = rospy.Rate(5)
#!/usr/bin/env python3
#
# MIT License
#
import time
from tfmini import TFmini
port = "/dev/tty.usbserial-A904MISU"
# mode = TFmini.PIX_MODE # Pixhawk - ascii
mode = TFmini.STD_MODE # packet
tf = TFmini(port, mode=mode)
try:
print('=' * 25)
# while True:
for _ in range(100):
d = tf.read()
if d:
print(f'Distance: {d:5}')
else:
print('No valid response')
time.sleep(0.01)
except KeyboardInterrupt:
tf.close()
print('bye!!')
#!/usr/bin/python
from __future__ import division, print_function
from tfmini import TFmini
import time
import sys
import RPi.GPIO as GPIO
import math
tf = TFmini('/dev/ttyAMA0', mode=TFmini.STD_MODE)
GPIO.setmode(GPIO.BCM)
GPIO_Yaw = [2, 3, 4, 17]
for pin in GPIO_Yaw:
GPIO.setup(pin, GPIO.OUT)
GPIO.output(pin, False)
Seq = [[1, 0, 0, 0], [1, 1, 0, 0], [0, 1, 0, 0], [0, 1, 1, 0], [0, 0, 1, 0],
[0, 0, 1, 1], [0, 0, 0, 1], [1, 0, 0, 1]]
SeqCount = len(Seq)
WaitTime = 1 / float(1000)
################################################################
def main():
while True:
step(GPIO_Yaw, 4074 / 2, WaitTime, 1, 2, "Yaw")
step(GPIO_Yaw, 4074 / 2, WaitTime, -1, 2, "Yaw")
#!/usr/bin/env python
#
# MIT License
#
from __future__ import division, print_function
# from serial import Serial
import time
from tfmini import TFmini
tf = TFmini('/dev/tty.usbserial-A506BOT5', mode=TFmini.STD_MODE)
try:
print('='*25)
while True:
d = tf.read()
# d = tf.read()
# s = q = 0
if d:
print('Distance: {:5}'.format(d))
else:
print('No valid response')
time.sleep(0.1)
except KeyboardInterrupt:
tf.close()
print('bye!!')
from __future__ import division, print_function
import time
from tfmini import TFmini
print('Hello')
tf = TFmini('/dev/ttyAMA0', mode=TFmini.STD_MODE)
try:
print('=' * 25)
while True:
d = tf.read()
if d:
print('Distance: {:5}'.format(d))
else:
print('No valid response')
time.sleep(0.1)
except KeyboardInterrupt:
tf.close()
print('bye!!')
from __future__ import division, print_function
from tfmini import TFmini
import pyttsx3
import time
# Voice Thingy
engine = pyttsx3.init()
engine.startLoop(False)
engine.say("Program initiated Velo at your service")
engine.iterate()
while engine.isBusy():
time.sleep(0.05)
tf = TFmini('/dev/ttyS0', mode=TFmini.STD_MODE)
print('=' * 25)
print("\a")
try:
print('=' * 25)
expectedDistance = tf.read()
count = 0
Sumofcurrentdistances = 0
Avg = 0
while True:
currentdistance = tf.read()
if currentdistance:
print('Distance: ' + str(currentdistance))
else:
print('No valid response')
continue
from __future__ import division, print_function
import time
from tfmini import TFmini
# create the sensor and give it a port and (optional) operating mode
#tf = TFmini('/dev/tty.usbserial-A506BOT5', mode=TFmini.STD_MODE)
tf = TFmini('/dev/serial1', mode=TFmini.STD_MODE)
try:
print('=' * 25)
while True:
d = tf.read()
if d:
print('Distance: {:5}'.format(d))
else:
print('No valid response')
time.sleep(0.1)
except KeyboardInterrupt:
tf.close()
print('bye!!')