def OffAxisBy(repeats=5): FL_dist = 0 FR_dist = 0 FM_dist = 0 for i in range(0,repeats): FL_dist += rngf_FL.MeasureOnce() FR_dist += rngf_FR.MeasureOnce() FM_dist += rngf_FM.MeasureOnce() HCSR04.sleep(rngf_FM.setl_len) # Give time for sensors to settle FL_dist /= repeats # +15deg dist in cm FR_dist /= repeats # -15deg dist in cm FM_dist /= repeats # 0deg dist in cm
# Author: Ben Evans # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # from time import sleep # Already imported in HCSR04.py, so use that # import RPi.GPIO as GPIO # Shouldn't be needed here import HCSR04 # INITIALIZE SENSORS # rngf_FL = HCSR04.HCSR04(7,13) # -> rangefinder: front left rngf_FM = HCSR04.HCSR04(19,21) # -> rangefinder: front mid rngf_FR = HCSR04.HCSR04(23,22) # -> rangefinder: front right rngf_ML = HCSR04.HCSR04(8,12) # -> rangefinder: mid left rngf_MR = HCSR04.HCSR04(16,18) # -> rangefinder: mid right rngf_RM = HCSR04.HCSR04(24,26) # -> rangefinder: rear mid HCSR04.sleep(0.5) # Extra time for all sensor pins to settle def OffAxisBy(repeats=5): FL_dist = 0 FR_dist = 0 FM_dist = 0 for i in range(0,repeats): FL_dist += rngf_FL.MeasureOnce() FR_dist += rngf_FR.MeasureOnce() FM_dist += rngf_FM.MeasureOnce() HCSR04.sleep(rngf_FM.setl_len) # Give time for sensors to settle FL_dist /= repeats # +15deg dist in cm FR_dist /= repeats # -15deg dist in cm FM_dist /= repeats # 0deg dist in cm
