def Pressure():
try:
import ms5837
pressure = ms5837.MS5837()
# Call update so it can try writing some bytes
# It should fail fast when not connected
pressure.update()
return pressure
except Exception as e:
print "Failed to Initialize BlueRobotics Bar30 Pressure Sensor"
print "Error: %s" % e.message
print "Using Mock Pressure Sensor"
from Pressure_Mock import Pressure as Pressure_Mock
return Pressure_Mock()
def __init__(self):
rospy.init_node('pressure_node')
self.pub_pressure = rospy.Publisher('sensors/pressure',
FluidPressure,
queue_size=1)
self.pub_temp = rospy.Publisher('sensors/temperature',
Temperature,
queue_size=1)
self.ms5837 = ms5837.MS5837(model=ms5837.MODEL_30BA)
if not self.ms5837.init():
rospy.logfatal(
'Failed to initialise MS5837! Is the sensor connected?')
else:
if not self.ms5837.read():
rospy.logfatal('Failed to read MS5837!')
else:
rospy.loginfo('Successfully initialised MS5837')
self.talker()
import tsys01, ms5837
import sdcard, os
from machine import I2C, SPI
from machine import Pin
SCL = 22
SDA = 23
i2c = I2C(-1, Pin(SCL), Pin(SDA))
p = ms5837.MS5837(model='MODEL_30BA', i2c=i2c)
t = tsys01.TSYS01(i2c)
p.init()
temp_acc = t.getTemp()
temp, pressure, depth = p.get_measurement()
print(temp_acc)
print(temp, pressure, depth)
sck = Pin(5)
mosi = Pin(18)
miso = Pin(19)
cs = Pin(14, Pin.OUT)
spi2 = SPI(2, baudrate=5000000, sck=sck, mosi=mosi, miso=miso)
sd = sdcard.SDCard(spi2, cs)
os.mount(sd, '/sd')
output = os.listdir('/sd')
print(output)