def __init__(self, config="/etc/cellularmonitor.json"):
print('Init DBUS')
dbus.mainloop.glib.DBusGMainLoop(set_as_default=True)
print('Init temperature sensor')
self.sensor_temp = adt7410.ADT7410(smbus.SMBus(I2C_BUS), 0x48)
print('Init range sensor')
self.sensor_range = vl53l0x.VL53L0X(smbus.SMBus(I2C_BUS), 0x29)
print('Init sms manager')
self.sms = smsmanager.SMSManager(self.sms_callback)
print('Load config')
self.conf_file = config
self.load_config()
def calculate():
try:
i2c = I2C(-1, Pin(5), Pin(4))
tof = vl53l0x.VL53L0X(i2c)
while len(distance_list) < 10:
tof.start()
tof.read()
print(tof.read())
distance=(tof.read())/10
tof.stop()
time.sleep(0.1)
print('Distance: {}cm'.format(distance))
if distance > 0.5:
distance_list.append(distance)
except:
print("Nekaj je narobe pri calculate()")
# # # imports needed from machine import I2C, Pin import vl53l0x import time import socket import network dist1Unit = 'mm' dist1ID = '05001' # Setup i2c to talk to sensor i2c = I2C(-1, Pin(5), Pin(4)) sensor = vl53l0x.VL53L0X(i2c) # set up socket # Get local IP address wlan = network.WLAN(network.STA_IF) hostip = wlan.ifconfig()[0] port = 10000 # Open a UDP socket sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) server_address = (hostip, port) sock.bind(server_address) # Main loop # # The main loop waits for a packet to arrive and then takes action
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.
import time
import vl53l0x
# Create a VL53L0X object for device on TCA9548A bus 1
tof1 = vl53l0x.VL53L0X(tca9548a_num=1, tca9548a_addr=0x70)
# Create a VL53L0X object for device on TCA9548A bus 2
tof2 = vl53l0x.VL53L0X(tca9548a_num=2, tca9548a_addr=0x70)
tof1.connect()
tof2.connect()
# Start ranging on TCA9548A bus 1
tof1.start_ranging(vl53l0x.Vl53l0xAccuracyMode.BETTER)
# Start ranging on TCA9548A bus 2
tof2.start_ranging(vl53l0x.Vl53l0xAccuracyMode.BETTER)
timing = tof1.get_timing()
if timing < 20000:
timing = 20000
print("Timing %d ms" % (timing / 1000))
import config
import machine
import utils
import vl53l0x
utils.printLog("NODEMCU", "radar boot up")
i2c = machine.I2C(scl=machine.Pin(config.D2), sda=machine.Pin(config.D1), freq=400000)
distanceSensor = vl53l0x.VL53L0X(i2c, 0x29)
def timeout100ms(timer):
utils.printLog("RADAR", distanceSensor.read())
tim1 = machine.Timer(0)
tim1.init(period=100, mode=machine.Timer.PERIODIC, callback=timeout100ms)
if prev_angle <= 0 and curr_angle < prev_angle:
if head_swing_side == 'neutral' or head_swing_side == 'left':
if head_swing_side == 'left':
left_swing_count = left_swing_count + 1
print("left food distance=", min(left_ping_distances))
head_swing_side = 'right'
if (right_swing_count % ping_stride) == 0:
for i in range(right_ping_angles_len):
ping_angle = right_ping_angles[i]
curr_angle_delta = abs(curr_angle - ping_angle)
if abs(prev_angle -
ping_angle) >= curr_angle_delta and abs(
next_angle - ping_angle) >= curr_angle_delta:
sleep(ping_before_pause) ###
I2C_sensor_bus = I2C(0, speed=100000, sda=32, scl=33)
distance_sensor = vl53l0x.VL53L0X(I2C_sensor_bus)
sleep(ping_before_pause)
try:
right_ping_distances[i] = distance_sensor.read()
except:
print("error sensing distance")
I2C_sensor_bus.deinit()
print("ping: angle=", curr_angle, "distance=",
right_ping_distances[i]) ###
if right_ping_distances[i] > max_valid_food_distance:
right_ping_distances[
i] = max_valid_food_distance + 1
sleep(ping_after_pause)
# Check left food distance.
if prev_angle >= 0 and curr_angle > prev_angle:
import time
import vl53l0x
tof = vl53l0x.VL53L0X(tca9548a_num=1, tca9548a_addr=0x70)
tof.connect()
tof.start_ranging(vl53l0x.Vl53l0xAccuracyMode.BEST)
tic = time.time()
while True:
try:
if tof.data_ready:
print(
f"\rDistance = {tof.get_data()};"
f"Time = {time.time() - tic}",
end="")
tic = time.time()
except KeyboardInterrupt:
break
tof.stop_ranging()
tof.disconnect()
# Simple demo of the VL53L0X distance sensor.
# Will print the sensed range/distance every second.
import time
import machine
import vl53l0x
# Initialize I2C bus and sensor.
i2c = machine.I2C(1, freq=400000)
vl53 = vl53l0x.VL53L0X(i2c)
# Optionally adjust the measurement timing budget to change speed and accuracy.
# See the example here for more details:
# https://github.com/pololu/vl53l0x-arduino/blob/master/examples/Single/Single.ino
# For example a higher speed but less accurate timing budget of 20ms:
# vl53.measurement_timing_budget = 20000
# Or a slower but more accurate timing budget of 200ms:
# vl53.measurement_timing_budget = 200000
# The default timing budget is 33ms, a good compromise of speed and accuracy.
# Main loop will read the range and print it every second.
while True:
print("Range: {0}mm".format(vl53.range))
time.sleep(1.0)