def start(port):
global x, y
for _ in range(360):
x.append(0)
y.append(0)
Obj = PyLidar3.YdLidarG4(port)
if (Obj.Connect()):
print(Obj.GetDeviceInfo())
gen = Obj.StartScanning()
t = time.time() # start time
while (time.time() - t) < 30: # scan for 30 seconds
data = next(gen)
for angle in range(0, 360):
if (data[angle] > 1000):
x[angle] = data[angle] * math.cos(math.radians(angle))
y[angle] = data[angle] * math.sin(math.radians(angle))
draw()
plt.show()
Obj.StopScanning()
Obj.Disconnect()
else:
print("Error connecting to device")
def runLidar(t_max):
"""
Description: Establishes a serial connection with the LiDAR, starts scanning and returns the data
:param t_max: Maximum run time
:return raw_data: The raw data
"""
lidar = PyLidar3.YdLidarG4(port)
if lidar.Connect():
print(lidar.GetDeviceInfo())
gen = lidar.StartScanning()
t1 = time.time() # start time
t2 = t1
raw_data = []
while t2 - t1 < t_max:
d = next(gen)
t2 = time.time()
raw_data.append([t2, d])
lidar.StopScanning()
lidar.Disconnect()
return raw_data
else:
print("Error connecting to device")
return 0
plt.ylim(-9000, 9000)
plt.xlim(-9000, 9000)
plt.scatter(x, y, c='r', s=8)
plt.pause(0.001)
plt.close("all")
is_plot = True
x = []
y = []
for _ in range(360):
x.append(0)
y.append(0)
port = "/dev/ttyACM0" #linux
Obj = PyLidar3.YdLidarG4(port)
threading.Thread(target=draw).start()
if (Obj.Connect()):
print(Obj.GetDeviceInfo())
gen = Obj.StartScanning()
t = time.time() # start time
while (time.time() - t) < 30: #scan for 30 seconds
data = next(gen)
for angle in range(0, 360):
if (data[angle] > 1000):
x[angle] = data[angle] * math.cos(math.radians(angle))
y[angle] = data[angle] * math.sin(math.radians(angle))
is_plot = False
Obj.StopScanning()
Obj.Disconnect()
else:
plt.ylim(-9000, 9000)
plt.xlim(-9000, 9000)
plt.scatter(x, y, c='r', s=8)
plt.pause(0.001)
plt.close("all")
is_plot = True
x = []
y = []
for _ in range(360):
x.append(0)
y.append(0)
port = "/dev/ttyUSB0"
#port = input("Enter port name which lidar is connected:") #windows
Obj = PyLidar3.YdLidarG4(
port) #PyLidar3.your_version_of_lidar(port,chunk_size)
threading.Thread(target=draw).start()
if (Obj.Connect()):
print(Obj.GetDeviceInfo())
gen = Obj.StartScanning()
t = time.time() # start time
while (time.time() - t) < 60: #scan for 30 seconds
data = next(gen)
for angle in range(0, 360):
if (data[angle] > 1000):
x[angle] = data[angle] * math.cos(math.radians(angle))
y[angle] = data[angle] * math.sin(math.radians(angle))
is_plot = False
Obj.StopScanning()
Obj.Disconnect()
else:
