def activate(self):
GPIO.output(self.gpio, GPIO.HIGH)
if self.get_register(self.__VL6180X_SYSTEM_FRESH_OUT_OF_RESET) == 1:
print("ToF sensor is ready.")
self.ready = True
else:
print("ToF sensor reset failure.")
self.ready = False
# Required by datasheet
# http://www.st.com/st-web-ui/static/active/en/resource/technical/document/application_note/DM00122600.pdf
self.set_register(0x0207, 0x01)
self.set_register(0x0208, 0x01)
self.set_register(0x0096, 0x00)
self.set_register(0x0097, 0xfd)
self.set_register(0x00e3, 0x00)
self.set_register(0x00e4, 0x04)
self.set_register(0x00e5, 0x02)
self.set_register(0x00e6, 0x01)
self.set_register(0x00e7, 0x03)
self.set_register(0x00f5, 0x02)
self.set_register(0x00d9, 0x05)
self.set_register(0x00db, 0xce)
self.set_register(0x00dc, 0x03)
self.set_register(0x00dd, 0xf8)
self.set_register(0x009f, 0x00)
self.set_register(0x00a3, 0x3c)
self.set_register(0x00b7, 0x00)
self.set_register(0x00bb, 0x3c)
self.set_register(0x00b2, 0x09)
self.set_register(0x00ca, 0x09)
self.set_register(0x0198, 0x01)
self.set_register(0x01b0, 0x17)
self.set_register(0x01ad, 0x00)
self.set_register(0x00ff, 0x05)
self.set_register(0x0100, 0x05)
self.set_register(0x0199, 0x05)
self.set_register(0x01a6, 0x1b)
self.set_register(0x01ac, 0x3e)
self.set_register(0x01a7, 0x1f)
self.set_register(0x0030, 0x00)
# Change address if requested
if self.wanted_address != 0x29:
self.change_address(0x29, self.wanted_address)
self.get_distance(
) # This is needed because sometimes the very first measurement is 0
def setSpeedRight(self, power, coeff=0):
if (power < 0):
GPIO.output(self.pins['dir_fr'], GPIO.LOW)
GPIO.output(self.pins['dir_rr'], GPIO.LOW)
else:
GPIO.output(self.pins['dir_fr'], GPIO.HIGH)
GPIO.output(self.pins['dir_rr'], GPIO.HIGH)
power = abs(power)
if power > 100:
power = 100
if power + coeff > 100:
coeff = 100
elif power + coeff < 0:
coeff = 0
else:
coeff = power + coeff
PWM.start(self.pins['fr'], power, 25000)
PWM.start(self.pins['rr'], coeff, 25000)
self.actual_r = power
def activate(self):
GPIO.output(self.gpio, GPIO.HIGH)
# Change address if requested
if self.wanted_address != 0x29:
self.change_address(0x29, self.wanted_address)
def deactivate(self):
GPIO.output(self.gpio, GPIO.LOW)
def __init__(self, pin= params.LED_PIN):
self.pin = pin
GPIO.setup(self.pin, GPIO.OUT)
GPIO.output(self.pin, GPIO.LOW)
def off(self):
'''
Turn off the Led
'''
GPIO.output(self.pin, GPIO.LOW)
def on(self):
'''
Turn on the Led
'''
GPIO.output(self.pin, GPIO.HIGH)