def main():
# instantiate the distance object
#sensor = DistanceSensor()
my_sensor = EasyDistanceSensor()
#sensor.start_continuous()
rospy.init_node("distance_sensor")
pub_distance = rospy.Publisher("~distance", Range, queue_size=10)
msg_range = Range()
msg_range.header.frame_id = "distance"
msg_range.radiation_type = Range.INFRARED
msg_range.min_range = 0.02
msg_range.max_range = 3.0
rate = rospy.Rate(rospy.get_param('~hz', 1))
while not rospy.is_shutdown():
# read distance in meters
read_distance = my_sensor.read() / 100.0
msg_range.range = read_distance
# Add timestamp
msg_range.header.stamp = rospy.Time.now()
# Print current distance
print msg_range.range * 1000, " mm"
# Publish distance message
pub_distance.publish(msg_range)
rate.sleep()
def __init__(self, addr=8, detect=True):
gopigo3.GoPiGo3.__init__(self)
self.scan_data = {}
# mutex sensors on IC2
self.distance_sensor = EasyDistanceSensor(port="RPI_1", use_mutex=True)
self.imu = inertial_measurement_unit.InertialMeasurementUnit(bus="RPI_1") # use_mutex=True
# buffer for reading the gyro
self.gyro_buffer = 0
self.stop()
#!/usr/bin/env python
#
# https://www.dexterindustries.com
#
# Copyright (c) 2017 Dexter Industries
# Released under the MIT license (http://choosealicense.com/licenses/mit/).
# For more information see https://github.com/DexterInd/DI_Sensors/blob/master/LICENSE.md
#
# Python example program for the Dexter Industries Distance Sensor
from __future__ import print_function
from __future__ import division
# import the modules
from di_sensors.easy_distance_sensor import EasyDistanceSensor
from time import sleep
# instantiate the distance object
my_sensor = EasyDistanceSensor()
# and read the sensor iteratively
while True:
read_distance = my_sensor.read()
print("distance from object: {} mm".format(read_distance))
sleep(0.1)
from di_sensors.easy_distance_sensor import EasyDistanceSensor
import time
import rospy
from geometry_msgs.msg import Twist
if __name__ == '__main__':
rospy.init_node("runnerDistanceNode")
pub = rospy.Publisher("runnerDistance", Twist, queue_size=3)
my_sensor = EasyDistanceSensor(address=0x2a, use_mutex=False)
rate = rospy.Rate(10)
while not rospy.is_shutdown():
read_distance = my_sensor.read()
data = Twist()
data.linear.x = read_distance / 100
pub.publish(data)
rospy.loginfo(f"Distance: {read_distance/100}m")
rate.sleep()
def __init__(self):
super().__init__()
self.imu = InertialMeasurementUnit(bus="GPG3_AD1")
self.ds = EasyDistanceSensor()
# Copyright (c) 2017 Dexter Industries
# Released under the MIT license (http://choosealicense.com/licenses/mit/).
# For more information see https://github.com/DexterInd/DI_Sensors/blob/master/LICENSE.md
#
# Python example program for the Dexter Industries Temperature Humidity Pressure Sensor
from __future__ import print_function
from __future__ import division
# do the import stuff
from di_sensors.easy_distance_sensor import EasyDistanceSensor
from time import time, sleep
from threading import Thread, Event, get_ident
# instantiate the distance object
my_sensor = EasyDistanceSensor(use_mutex = True)
start_time = time()
runtime = 2.0
# create an event object for triggering the "shutdown" of each thread
stop_event = Event()
# target function for each thread
def readingSensor():
while not stop_event.is_set():
thread_id = get_ident()
distance = my_sensor.read()
print("Thread ID = {} with distance value = {}".format(thread_id, distance))
sleep(0.001)
# create an object for each thread
thread1 = Thread(target = readingSensor)
import urllib2
import base64
import picamera
import json
from subprocess import call
import time
import datetime
import atexit
from googleapiclient import discovery
import google.auth
from easygopigo3 import EasyGoPiGo3
from di_sensors.easy_distance_sensor import EasyDistanceSensor
gpg = EasyGoPiGo3()
button = gpg.init_button_sensor("AD1") # button on GoPiGo3's AD1 port
ds = EasyDistanceSensor() # distance sensor on I2C port
atexit.register(gpg.stop) # If we exit, stop the motors
#Calls the Espeak TTS Engine to read aloud a sentence
# This function is going to read aloud some text over the speakers
def sound(spk):
# -ven+m7: Male voice
# The variants are +m1 +m2 +m3 +m4 +m5 +m6 +m7 for male voices and +f1 +f2 +f3 +f4 which simulate female voices by using higher pitches. Other variants include +croak and +whisper.
# Run the command espeak --voices for a list of voices.
# -s180: set reading to 180 Words per minute
# -k20: Emphasis on Capital letters
# to enable audio output on the audio jack
# otherwise, instead of one, select 2 for HDMI or 0 for automatic