def main(self, config, log, local):
from adafruit_rplidar import RPLidar
from math import cos, sin, radians
while True:
try:
lidar = RPLidar(None, config['lidarPort'])
lidar.set_pwm(config['lidarSpeed'])
try: # Rear LIDAR failure will not impact main LIDAR
import adafruit_tfmini
import serial
uart = serial.Serial("/dev/ttyS0", timeout=1)
rearLidar = adafruit_tfmini.TFmini(uart)
rearLidar.mode = adafruit_tfmini.MODE_SHORT
except Exception as exception:
log["exceptions"].append(str(exception))
while True:
for scan in lidar.iter_scans():
local.scan = scan
try:
rearScan = (rearLidar.distance -
config['rearLidarOverhang'],
rearLidar.strength, rearLidar.mode)
if rearScan[0] <= 0:
rearScan = (None, rearScan.strength,
rearScan.mode)
local.rearScan = rearScan
except Exception as exception:
log["exceptions"].append(str(exception))
except Exception as exception:
log["exceptions"].append(str(exception))
if type(
exception
) == KeyboardInterrupt: # This might not work because it runs it a separate process.
lidar.stop()
lidar.disconnect()
## First, Do pip3 install adafruit-circuitpython-tfmini
import time
# import board # comment this out if using pyserial
# import busio # comment this out if using pyserial
import adafruit_tfmini
## Use hardware uart
# uart = busio.UART(board.TX, board.RX)
## Or, you can use pyserial on any computer
import serial
uart = serial.Serial("/dev/ttyS2", timeout=1)
## Simplest use, connect with the uart bus object
tfmini = adafruit_tfmini.TFmini(uart)
## You can put in 'short' or 'long' distance mode
tfmini.mode = adafruit_tfmini.MODE_SHORT
print("Now in mode", tfmini.mode)
while True:
print("Distance: %d cm (strength %d, mode %x)" %
(tfmini.distance, tfmini.strength, tfmini.mode))
time.sleep(0.1)