def make_sweep(): obstacle_range = numpy.zeros(NUMBER_OF_SCANS) index = 0 gopigo.enable_servo() #Scan the vicinity in front for angle in range(SCAN_START, SCAN_END + SCAN_STEP, SCAN_STEP): gopigo.servo(angle) time.sleep(SLEEP_TIME_BETWEEN_STEPS) distance = gopigo.us_dist(PORT_A1) #Take into account sense lmits if distance < SENSE_LIMIT and distance >= 0: obstacle_range[index] = distance - AVERAGE_DISTANCE_ERROR else: obstacle_range[index] = SENSE_LIMIT index += 1 gopigo.disable_servo() return obstacle_range
def make_sweep():
obstacle_range = numpy.zeros(NUMBER_OF_SCANS)
index = 0
gopigo.enable_servo()
#Scan the vicinity in front
for angle in range(SCAN_START, SCAN_END + SCAN_STEP, SCAN_STEP):
gopigo.servo(angle)
time.sleep(SLEEP_TIME_BETWEEN_STEPS)
distance = gopigo.us_dist(PORT_A1)
#Take into account sense lmits
if distance < SENSE_LIMIT and distance >= 0:
obstacle_range[index] = distance - AVERAGE_DISTANCE_ERROR
else:
obstacle_range[index] = SENSE_LIMIT
index += 1
gopigo.disable_servo()
return obstacle_range
iangle_main = 0
istep_usd = 10
icone_usd = 60
max_sample_usd = 2
angle_main = sensor_dof.angle
sample_acquire.acquire_cone_usd(angle_main,one_sample,istep_usd,icone_usd,max_sample_usd)
while iangle_main<360-istep_main:
angle_main = sample_acquire.rotate_main(sensor_dof,sensor_motor,istep_main);
sample_acquire.rotate_usd(0)
sample_acquire.rotate_usd(0)
sample_acquire.rotate_usd(0)
sample_acquire.acquire_cone_usd(angle_main,one_sample,istep_usd,icone_usd,max_sample_usd)
iangle_main = iangle_main+istep_main
sample_acquire.rotate_usd(0)
sample_acquire.rotate_usd(0)
sample_acquire.rotate_usd(0)
print "disable sensor_dof"
sensor_dof.on_cleanup()
gopygo_version = fw_ver()
info = 'Generated by GoPiGo Version : ' + str(gopygo_version) + ' GeneratedSampleGpG.py version :'+str(sample_acquire.num_version)
io = GPG_Pos_Dist_IO(sample.get_version())
io.ToFile(sample,filename,info)
sample_acquire.rotate_usd(0)
gopigo.disable_servo()
print "disable_servo"
def on_start_stop_servo(self):
if not self._servo:
gopigo.enable_servo()
else:
gopigo.disable_servo()
self._servo = not self._servo
def disable_servo(kargs):
r = {'return_value': gopigo.disable_servo()}
return r
