class Sensor:
def __init__(self, trigger_pin, echo_pin, angle):
self._trigger_pin = trigger_pin
self._echo_pin = echo_pin
self._angle = angle
self._sr04 = Echo(self._trigger_pin, self._echo_pin)
def getDistance(self, samples = 1):
return self._sr04.read('cm', samples)
def getAngle(self):
return self._angle
def getTriggerPin(self):
return self._trigger_pin
def getEchoPin(self):
return self._echo_pin
def stop(self):
self._sr04.stop()
#DEVANT ; trig 27 echo 22 // gauche : echo 17 trigger 18
"""File: echo_multi_sensor.py"""
# Import necessary libraries.
from time import sleep
from Bluetin_Echo import Echo
# Define pin constants
TRIGGER_PIN_1 = 27
ECHO_PIN_1 = 22
TRIGGER_PIN_2 = 18
ECHO_PIN_2 = 17
speed_of_sound = 315
while True:
capteurDevant = Echo(TRIGGER_PIN1, ECHO_PIN1, speed_of_sound)
samples = 5
result = capteurDevant.read('cm', samples)
print(result, 'cm')
capteurDevant.stop()
capteurGauche = Echo(TRIGGER_PIN2, ECHO_PIN2, speed_of_sound)
samples = 5
result = capteurGauche.read('cm', samples)
print(result, 'cm')
capteurGauche.stop()
time.sleep(1)
"""File: echo_simple_once.py"""
# Import necessary libraries.
from Bluetin_Echo import Echo
# Define GPIO pin constants.
TRIGGER_PIN = 16
ECHO_PIN = 12
# Initialise Sensor with pins, speed of sound.
speed_of_sound = 315
echo = Echo(TRIGGER_PIN, ECHO_PIN, speed_of_sound)
# Measure Distance 5 times, return average.
samples = 5
result = echo.read('cm', samples)
# Print result.
print(result, 'cm')
# Reset GPIO Pins.
echo.stop()
#!/usr/bin/env python3
from prometheus_client import start_http_server, Gauge
import signal,sys
import time
from Bluetin_Echo import Echo
trigger_pin = 23
echo_pin = 24
sensor = Echo(trigger_pin, echo_pin)
distanceMetric = Gauge('distance', 'Distance in cm')
start_http_server(8000)
def handle_sigterm(*args):
sensor.stop()
sys.exit()
signal.signal(signal.SIGTERM, handle_sigterm)
while True:
distance = sensor.read('cm', samples = 5)
distanceMetric.set(distance)
time.sleep(0.5)
s.put_text("Scan Complete: Await Processing", 5, 10)
s.redraw()
mask_flag = mask(img)
if (not mask_flag):
s.clear()
s.put_text(
"Cannot allow without mask, please step aside from queue", 5,
10)
s.redraw()
fc = 0
tc = 5
break
s.clear()
s.put_text("Please bring forehead close to red sensor", 5, 10)
s.redraw()
distance = echo.read('cm')
while (distance > 10):
s.clear()
s.put_text("Please bring forehead close to red sensor", 5, 10)
s.redraw()
distance = echo.read('cm')
T = temp.get_obj_temp()
if (T > 99):
s.clear()
s.put_text(
"Cannot allow due to high body temperature, please step aside from queue",
5, 10)
s.redraw()
fc = 0
tc = 5
break
gapmax = 30
# Vitesse du robot
speed = 100
# Le robot ne suis pas encore un mur au depart
onTrack = False
#time.sleep(30)
pz.init()
try:
while True:
# recuperation ultrson
capteurDevant = Echo(TRIGGER_PIN1, ECHO_PIN1, speed_of_sound)
front = capteurDevant.read('cm', samples)
capteurDevant.stop()
capteurGauche = Echo(TRIGGER_PIN2, ECHO_PIN2, speed_of_sound)
side = capteurGauche.read('cm', samples)
capteurGauche.stop()
print("devant = ", front, " gauche = ", side)
#correction erreur distance > a 4metres
while front > 1000 or side > 1000:
print("Erreur du capteur, nouvelle prise de donnees")
pz.stop()
samples = 3
capteurDevant = Echo(TRIGGER_PIN1, ECHO_PIN1, speed_of_sound)
front = capteurDevant.read('cm', samples)
capteurDevant.stop()
def back():
GPIO.output(12, True)
GPIO.output(16, False)
GPIO.output(20, True)
GPIO.output(21, False)
time.sleep(1)
def go():
GPIO.output(16, True)
GPIO.output(12, False)
GPIO.output(21, True)
GPIO.output(20, False)
time.sleep(1)
def stop():
GPIO.output(16, False)
GPIO.output(12, False)
GPIO.output(21, False)
GPIO.output(20, False)
data = Echo(23, 24, 315)
ret = data.read('cm', 3)
print(ret)