def __init__(self, buffer):
"""
Function to controll the Lidar Sensor. Writen especially for the RPLidar A2M8
:param buffer: Queue() - used for multiprocessing
"""
self.lidar = rp("/dev/tty.SLAB_USBtoUART")
self.__buffer = buffer
def __init__(self, buffer):
self.__buffer__ = buffer
self.lidar = rp('/dev/tty.SLAB_USBtoUART')
time.sleep(2)
def __init__(self, buffer):
self.lidar = rp("/dev/tty.SLAB_USBtoUART")
self.__buffer = buffer
import numpy as np
from rplidar import RPLidar as rp
import time
def get_coords(g, d):
x = int(round(np.cos(g * np.pi / 180) * d, 1))
y = int(round(np.sin(g * np.pi / 180) * d, 1))
return x, y
def map_coords(points, position):
return points[0] + position[0], points[1] + position[1]
lidar = rp("/dev/tty.SLAB_USBtoUART")
lidar.connect()
lidar.start_motor()
print(lidar.get_info())
time.sleep(2)
karte = np.zeros((7000, 7000))
position = (3500, 3500)
try:
counter = 0
for i, scan in enumerate(lidar.iter_scans()):
print(i)
print(scan[0])
if i % 3 == 1:
counter = 0
karte = np.zeros((7000, 7000))