class LidarSensor(Sensor): def __init__(self, sensor_id, uart_bus): super(LidarSensor, self).__init__(sensor_id, ['i8', 'i64', 'u16']) self.lidar = LidarTurret(uart_bus) def recved_data(self): return self.lidar.received() def update_data(self): return self.lidar.counts, self.lidar.rotations, self.lidar.distance def reset(self): self.lidar.send_start() def stop(self): self.lidar.send_stop() def __str__(self): return "c: %5.0i, r: %5.0i, d: %5.0i" % (self.lidar.counts, self.lidar.rotations, self.lidar.distance)
import pyb from libraries.lidar_turret import LidarTurret lidar = LidarTurret(1) while True: if lidar.received(): print(lidar.counts, "\t", lidar.distance)
def __init__(self, sensor_id, uart_bus): super(LidarSensor, self).__init__(sensor_id, ['i8', 'i64', 'u16']) self.lidar = LidarTurret(uart_bus)