def main(): from lidar_lite import Lidar_Lite lidar = Lidar_Lite() connected = lidar.connect(1) if connected < -1: print("Not Connected") return else: print("Connected") for i in range(100): distance = lidar.getDistance() print("Distance to target = %s" % (distance)) if int(distance) < 300: commandimage = 'raspistill -n --timeout 1 -h 183 -w 275 -o imgtmp.jpg' os.system(commandimage) device = open_ncs_device() graph = load_graph(device) img_draw = skimage.io.imread(ARGS.image) img = pre_process_image(img_draw) infer_image(graph, img, distance) close_ncs_device(device, graph)
def takeoffLand(): print("connect...") vehicle = connect('/dev/ttyUSB0', wait_ready=True) vehicle.mode = VehicleMode('GUIDED') vehicle.armed = True sleep(5) if not vehicle.armed: print("Vehicle not armed") return print("tern on devices...") camera = PiCamera() camera.resolution = (1024, 768) lidar = Lidar_Lite() connected = lidar.connect(1) if connected < -1: print("Lidar not Connected") return takeSample(lidar, camera) vehicle.close() with open('takeoff_dump/takeoff_land_logs.json', 'w') as fp: json.dump(l_samples, fp)
def takeoffLand(connect_str): print("connect to: " + connect_str) vehicle = connect('udp:172.29.113.100:14550', wait_ready=True) vehicle.mode = VehicleMode('GUIDED') vehicle.armed = True sleep(5) if not vehicle.armed: print("Vehicle not armed") return print("tern on devices...") camera = PiCamera() camera.resolution = (1024, 768) lidar = Lidar_Lite() connected = lidar.connect(1) if connected < -1: print("Lidar not Connected") return print("Taking off") vehicle.simple_takeoff(10) sleep(15) takeSample(lidar, camera) takeSample(lidar, camera) print("Landing") vehicle.mode = VehicleMode('LAND') sleep(15) vehicle.close() with open('takeoff_dump/takeoff_land_logs.json', 'w') as fp: json.dump(l_samples, fp)
def range_dist(): sonar = False lidar_sens = False # lidar sensing True, else EZ4 sonar or VL53L1X if sonar: # does not work well on grass from smbus import SMBus ## i2cbus = SMBus(1) while True: try: i2cbus = SMBus(1) i2cbus.write_byte(0x70, 0x51) time.sleep(0.12) val = i2cbus.read_word_data(0x70, 0xE1) distance_in_cm = val >> 8 | (val & 0x0F) << 8 ## print distance_in_cm, 'cm' print(distance_in_cm, 'cm', file=f) msg_sensor(distance_in_cm, 25, 400), #sonar facing down except IOError as err: print(err) time.sleep(0.1) if lidar_sens: from lidar_lite import Lidar_Lite lidar = Lidar_Lite() connected = lidar.connect(1) if connected < 0: print("\nlidar not connected") else: print("\nlidar connected") while True: dist = lidar.getDistance() print(dist, 'cm') print(dist, 'cm', file=f) msg_sensor(dist, 25, 700), #lidar facing down time.sleep(0.2) else: # does not work in sunlight import VL53L1X tof = VL53L1X.VL53L1X(i2c_bus=1, i2c_address=0x29) tof.open() # Initialise the i2c bus and configure the sensor tof.start_ranging( 2 ) # Start ranging, 1 = Short Range, 2 = Medium Range, 3 = Long Range # Short range max:1.3m, Medium range max:3m, Long range max:4m while True: distance_in_cm = tof.get_distance( ) / 10 # Grab the range in cm (mm) time.sleep(0.2) # timeout mavlink rangefinder = 500 ms print(distance_in_cm, 'cm', file=f) msg_sensor(distance_in_cm, 25, 250), #sensor facing down tof.stop_ranging() # Stop ranging
def _arming(self): self.vehicle.armed = True self.alt = 0 time.sleep(5) if not self.vehicle.armed: print("Vehicle not armed") return False if MODE == LIVE: print("Activating devices...") self.cam = PiCamera() self.cam.resolution = CAM_RES self.lidar = Lidar_Lite() connected = self.lidar.connect(1) if connected < -1: #TODO: check this cond print("Lidar not Connected") return False print("Armed successfully") return True
def four_points(connect_str): print("connect to: " + connect_str) vehicle = connect(connect_str, wait_ready=True) vehicle.mode = VehicleMode('GUIDED') vehicle.armed = True sleep(5) if not vehicle.armed: print("Vehicle not armed") return print("tern on devices...") camera = PiCamera() camera.resolution = (1024, 768) lidar = Lidar_Lite() connected = lidar.connect(1) if connected < -1: print("Lidar not Connected") return print("Taking off") vehicle.simple_takeoff(10) time.sleep(15) goto(10, 0, vehicle.simple_goto) point_handler(1, camera, lidar) goto(0, 10, vehicle.simple_goto) point_handler(2, camera, lidar) goto(-10, 0, vehicle.simple_goto) point_handler(3, camera, lidar) goto(0, -10, vehicle.simple_goto) point_handler(4, camera, lidar) print("Landing") vehicle.mode = VehicleMode('LAND') sleep(15) raw_input("Press any key to turn off the drone") vehicle.close() with open('4pts_dump/logs.json', 'w') as fp: json.dump(l_samples, fp)
def takeoffLand(): print("connect...") vehicle = connect('/dev/ttyUSB0', wait_ready=True) vehicle.mode = VehicleMode('GUIDED') vehicle.armed = True sleep(5) if not vehicle.armed: print("Vehicle not armed") return print("turn on devices...") camera = PiCamera() camera.resolution = (1024, 768) lidar = Lidar_Lite() connected = lidar.connect(1) if connected < -1: print("Lidar not Connected") return print("Taking off") vehicle.simple_takeoff(10) sleep(15) takeSample(lidar, camera) takeSample(lidar, camera) print("Landing") vehicle.mode = VehicleMode('LAND') sleep(15) raw_input("Press any key to turn off the drone") vehicle.close() with open('takeoff_dump/takeoff_land_logs.json', 'w') as fp: json.dump(l_samples, fp)
from lidar_lite import Lidar_Lite lidar = Lidar_Lite() connected = lidar.connect(1) tooClose = False def scan_li(c): for i in range(c): distance = lidar.getDistance() print ("Distance to target = ", distance) if (int(distance) < 20): tooClose = True print ("\nToo Close!!! Back Off!!\n") if (int(distance) > 35): tooClose = False print("\nProceed\n") if (__name__) == "__main__": if connected < -1: print ("Not Connected") else: print ("Connected") while (connected >= -1):
def init(self): self.lidar = Lidar_Lite() if connected < -1: print("Not Connected")