def laser():
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
GPIO.setup(21,GPIO.OUT)
GPIO.setup(20,GPIO.OUT)
GPIO.setup(16,GPIO.OUT)
GPIO.setup(12,GPIO.OUT)
GPIO.output(21,GPIO.LOW)
GPIO.output(20,GPIO.LOW)
GPIO.output(12,GPIO.LOW)
GPIO.output(16,GPIO.LOW)
GPIO.output(21,GPIO.HIGH)
sleep(0.1)
i2c = busio.I2C(board.SCL, board.SDA)
LD = adafruit_vl6180x.VL6180X(i2c)
LD.set_address(i2c,0x50)
GPIO.output(20,GPIO.HIGH)
sleep(0.1)
LAD = adafruit_vl6180x.VL6180X(i2c)
LAD.set_address(i2c,0x51)
GPIO.output(16,GPIO.HIGH)
sleep(0.1)
LAS = adafruit_vl6180x.VL6180X(i2c)
LAS.set_address(i2c,0x52)
GPIO.output(12,GPIO.HIGH)
sleep(0.1)
LS = adafruit_vl6180x.VL6180X(i2c)
LS.set_address(i2c,0x53)
def __init__(self, i2c_port=1):
i2c = I2C(i2c_port) # Create I2C bus.
#self.sensor_interface = sensor_interface.VL6180X(i2c) # Create sensor instance.
self.sensor_interface = adafruit_vl6180x.VL6180X(
i2c) # Create sensor instance.
self.handle_exit_signals()
time.sleep(2)
def test_sensor_status():
i2c = busio.I2C(board.SCL, board.SDA)
sensor = adafruit_vl6180x.VL6180X(i2c)
assert isinstance(sensor, adafruit_vl6180x.VL6180X)
# See the vl6180x datasheet (Table 12)
# https://www.st.com/resource/en/datasheet/vl6180x.pdf
# The error codes and description:
# 0 - No Error
# 1-5 - System error
# 6 - Early convergent estimate failed
# 7 - System did not converge before max convergence time limit
# 8 - Ignore threshold check failed
# 9-10 - Not used
# 11 - Ambient conditions to high. Measurement not valid.
# 12-14 - Range < 0. If the target is very close (0-10mm) and the offset
# is not correctly calibrated it could lead to a small
# negative value
# 13/15 - Range value out of range. This occurs when the
# target is detected by the device but is placed at a
# high distance (> 200mm) resulting in internal
# variable overflow.
# 16 - Distance filtered by Wrap Around Filter (WAF).
# Occurs when a high reflectance target is
# detected between 600mm to 1.2m
# 17 - Not used
# 18 - Error returned by
# VL6180x_RangeGetMeasurementIfReady()
# when ranging data is not ready.
assert 0 == sensor.range_status
def __init__(self, serial_connection, N_FILTER=30):
try:
i2c = busio.I2C(board.SCL, board.SDA)
self.sensor = adafruit_vl6180x.VL6180X(i2c)
except ValueError:
from ..dummy import dummy_range_sensor as sensor
self.sensor = sensor
serial_connection.NO_CONNECTION = "Tank sensor niet verbonden"
except ModuleNotFoundError:
from ..dummy import dummy_range_sensor as sensor
self.sensor = sensor
serial_connection.NO_CONNECTION = "Tank sensor niet verbonden"
#Main loop print
self.N_FILTER = N_FILTER #pylint: disable=invalid-name
self.raw_data_queue = [self.sensor.range] * self.N_FILTER
D_TANK = 0.0335 #pylint: disable=invalid-name
self.A_TANK = (3.1416 * (D_TANK / 2)**2) * 1e3 #pylint: disable=invalid-name
self.V0 = 110 #pylint: disable=invalid-name
self.corr = 0
def _initialize_hardware(self):
"""
Initializes the widget hardware.
"""
# Import
try:
import board
import busio
import adafruit_vl6180x
except Exception as ex:
logging.error(
'\n *** ERROR importing Adafruit libraries: {}'.format(
ex, ), )
# Things failed, so we must be running locally, not on a widget;
# don't bother hooking up the VL6180X
return
# Initialize I2C and VL6180X
try:
i2c = busio.I2C(board.SCL, board.SDA)
self._sensor = adafruit_vl6180x.VL6180X(i2c)
except Exception as ex:
logging.error(
'\n *** ERROR initializing I2C/LSM303: {}'.format(ex), )
self._initialize_id_led()
def on_activate(self): ''' Init the device hardware ''' # Create I2C bus. self.i2c = busio.I2C(board.SCL, board.SDA) # Create sensor instance. self.sensor = adafruit_vl6180x.VL6180X(self.i2c)
def test_lux():
i2c = busio.I2C(board.SCL, board.SDA)
sensor = adafruit_vl6180x.VL6180X(i2c)
lux = sensor.read_lux(adafruit_vl6180x.ALS_GAIN_1)
print('\n\ntest_lux(): Light (1x gain): {0}lux'.format(lux))
# https://www.st.com/resource/en/datasheet/vl6180x.pdf
# Table 1, Technical specification
# < 1 Lux up to 100 kLux(2) 16-bit output(3) 8 manual gain settings
assert (0 <= lux <= 100000)
def __init__(self):
# Define DAQ
self._daq = q2usb()
print("DAQ Initialized")
# Configure ToF sensor
self._i2c = busio.I2C(board.SCL, board.SDA)
self._tof_sensor = adafruit_vl6180x.VL6180X(self._i2c)
print("ToF sensor Initialized")
def startTOFSensor(self):
self.loginfo("establishing connection with tof sensor")
try:
i2c = busio.I2C(board.SCL, board.SDA)
self.tof_sensor = adafruit_vl6180x.VL6180X(i2c)
self.tof_sensor_online = True
except (ValueError, OSError) as e:
self.loginfo('Could not connect to TOF sensor')
print(e)
self.tof_sensor_online = False
def getRange():
OFFSET = 19
i2c = busio.I2C(board.SCL, board.SDA)
sensor = adafruit_vl6180x.VL6180X(i2c)
measurement = sensor.range - OFFSET
currentDate = datetime.datetime.now()
##print('{0}mm'.format(measurement))
sensorStr = json.dumps(
{currentDate.strftime("%Y-%m-%d %H:%M:%S"): measurement})
#print(sensorStr)
return sensorStr
def __init__(self):
# self.camera = PiCamera()
# self.camera.rotation = 180
#
i2c = busio.I2C(board.SCL, board.SDA)
try:
self.vl53l0x = adafruit_vl53l0x.VL53L0X(i2c, address=28)
except:
input('Unplug VL6180 (top Time of Flight sensor)')
# self.change_addr(i2c)
self.vl53l0x = self.change_addr(i2c)
input('Plug it back in and press enter to continue. ')
try:
self.vl6180X = adafruit_vl6180x.VL6180X(i2c)
except:
input('Plug in the VL6180x Sensor. Press enter to continue.')
self.vl6180X = adafruit_vl6180x.VL6180X(i2c)
time.sleep(0.25)
def __init__(self):
## Arm and Hand Degrees ##
self.armAngle = self.oldArmDegree = 0.0
self.handAngle = self.oldHandDegree = -PI / 6
self.maxArmAngle = PI / 2
self.minArmAngle = 0
self.maxHandAngle = 0
self.minHandAngle = -PI / 2
## Robot Body ##
self.robotWidth = 30
self.robotHeight = 20
self.robotPos = 20
self.minRailPos = 0
self.maxRailPos = 110
## Robot Arm ##
self.armLength = 50
## Robot Hand ##
self.handLength = 60
self.positions = [20]
i2c = busio.I2C(board.SCL, board.SDA)
hat = adafruit_pca9685.PCA9685(i2c)
self.kit = ServoKit(
channels=16) #, address=0x40, reference_clock_speed=25000000)
self.sensor = adafruit_vl6180x.VL6180X(i2c)
# Define the Reset Pin
oled_reset = digitalio.DigitalInOut(board.D12)
# Change these
# to the right size for your display!
WIDTH = 128
HEIGHT = 32 # Change to 64 if needed
BORDER = 5
spi = busio.SPI(board.SCK, MOSI=board.MOSI)
reset_pin = digitalio.DigitalInOut(board.D12) # any pin!
cs_pin = digitalio.DigitalInOut(board.D5) # any pin!
dc_pin = digitalio.DigitalInOut(board.D6) # any pin!
self.oled = adafruit_ssd1306.SSD1306_SPI(128, 32, spi, dc_pin,
reset_pin, cs_pin)
# Load default font.
self.font = ImageFont.load_default()
def __init__(self, sensor):
# Initialize I2C bus and sensor.
self.i2c = busio.I2C(board.SCL, board.SDA)
if sensor == 'vl53':
self.sensor = adafruit_vl53l0x.VL53L0X(self.i2c)
elif sensor == 'vl61':
self.sensor = adafruit_vl6180x.VL6180X(self.i2c)
if self.sensor:
# set timing budget in milliseconds
self.sensor.measurement_timing_budget = 10000
def Light_Sensor(Activated, PIN):
if Activated == True:
try:
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
GPIO.setup(PIN, GPIO.OUT)
GPIO.output(PIN, GPIO.HIGH)
i2c = busio.I2C(board.SCL, board.SDA)
sensor = adafruit_vl6180x.VL6180X(i2c)
lux = sensor.read_lux(adafruit_vl6180x.ALS_GAIN_1)
time.sleep(.1)
GPIO.output(PIN, GPIO.LOW)
time.sleep(.1)
return lux
except ValueError:
return 100
def distancePub():
pub = rospy.Publisher('obstacle', Float32, queue_size=10)
rospy.init_node('distance', anonymous=True)
rate = rospy.Rate(10) # 10hz
# Create I2C bus.
i2c = busio.I2C(board.SCL, board.SDA)
# Create sensor instance.
sensor = adafruit_vl6180x.VL6180X(i2c)
while not rospy.is_shutdown():
range_mm = sensor.range
rospy.loginfo(range_mm)
pub.publish(range_mm)
rate.sleep()
def setup(self, multiplex_handler, right_sensor_channel):
# IN1 - Forward Drive
self.L298_LEFT_PWM_FORWARD_PIN = 26
#IN2 - Reverse Drive
self.L298_LEFT_PWM_REVERSE_PIN = 19
self.forwardLeft = PWMOutputDevice(self.L298_LEFT_PWM_FORWARD_PIN,
True, 0, 1000)
self.reverseLeft = PWMOutputDevice(self.L298_LEFT_PWM_REVERSE_PIN,
True, 0, 1000)
self.i2c = multiplex_handler.getI2C()
self.sensor = adafruit_vl6180x.VL6180X(self.i2c)
self.multiplex_handler = multiplex_handler
self.right_sensor_channel = right_sensor_channel
def __init__(self, port, threshold=25, address_offset=0b000, address_default=0x70):
"""
Initialize a Lidar Sensor
:param port: Port the lidar sensor is connected to on the i2c multiplexer
:param threshold: Threshold distance, object is considered to be detected if distance is less
than or equal to the threshold distance
:param address_offset: i2c address offset, defaults to 0b000
:param address_default: i2c address default of the i2c multiplexer, defaults to 0x70
"""
self.port = port
self.threshold = threshold
self.delay_time = 0.001
self.address = address_offset + address_default
self.detected = False
self.last_read = self.threshold + 10
self.i2c_smbus = Bus(1)
self.port_select(port=self.port)
self.i2c_circuit_python = busio.I2C(board.SCL, board.SDA) # creates circuit python i2c instance
self.sensor = adafruit_vl6180x.VL6180X(self.i2c_circuit_python) # creates sensor instance on circuit python i2c
# Simple demo of the VL6180X distance sensor.
# Will print the sensed range/distance every second.
import time
import board
import busio
import adafruit_vl6180x
# Initialize I2C bus and sensor.
i2c = busio.I2C(board.SCL, board.SDA)
vl61 = adafruit_vl6180x.VL6180X(i2c)
# Optionally adjust the measurement timing budget to change speed and accuracy.
vl61.measurement_timing_budget = 10000
# Main loop will read the range and print it every second.
while True:
try:
r = vl61.range
if r:
print('Range: {0}mm'.format(r))
except:
print('fail, retry..')
time.sleep(1.0)
from Angle_to_Dist import dist_angle_foot
from Inv_Kinematics import InvKine_2D
from Inve import inverseKin2D
from big_leg import Knee_Angle_To_Distance, Thigh_Angle_To_Distance
#Constants
#----------------------------------------------------------------------------
#I2C Bus Initialization
i2c = busio.I2C(board.SCL, board.SDA, frequency=5000000)
#MUX Object
tca = adafruit_tca9548a.TCA9548A(i2c)
#Sensors to be MUXed
#mpu = adafruit_mpu6050.MPU6050(tca[7])
tof_2 = adafruit_vl6180x.VL6180X(tca[7])
tof_1 = adafruit_vl6180x.VL6180X(tca[1])
#Calibrate Motor
#--------------------------------------------------------------
print("finding an odrive...")
my_drive = odrive.find_any(serial_number = "20623599524B")
time.sleep(0.1)
# # Full Calibration
print("starting calibration...")
my_drive.axis0.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE
my_drive.axis1.requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE
# # Velocity Config
my_drive.axis0.controller.config.vel_limit = 130000
import board
import busio
#install beforehand with sudo pip3 install adafruit-circuitpython-vl6180x
import adafruit_vl6180x
#add adafruit multiplexer library
import adafruit_tca9548a
#install pip3 install adafruit-circuitpython-tca9548a
# Create I2C bus. (careful with 2 TOFs)
i2c = busio.I2C(board.SCL, board.SDA)
# Create the TCA9548A object and give it the I2C bus
tca = adafruit_tca9548a.TCA9548A(i2c)
sensor_tof1 = adafruit_vl6180x.VL6180X(tca[2])
sensor_tof2 = adafruit_vl6180x.VL6180X(tca[3])
# Create sensor instance.
# Main loop prints the range (and lux) every 0.25s
while True:
# Read the range in millimeters and print it.
range_mm_tof1 = sensor_tof1.range
range_mm_tof2 = sensor_tof2.range
print('Range TOF1: {0}mm'.format(range_mm_tof1))
print('Range TOF2: {0}mm'.format(range_mm_tof2))
# Delay for a second.
time.sleep(0.250)
def search_haltesignal(tof_measurement_timeout_millis=310,
tof1_port=0,
tof1_threshold_max_distance_mm=170,
tof1_treshold_min_distance_mm=100,
tof2_port=1,
tof2_threshold_max_distance_mm=180,
tof2_treshold_min_distance_mm=100):
"""Searches Object
Keyword Arguments:
Returns:
Boolean - Erkannt oder nicht
"""
logger.info("DoubleTOF Check called (100% validated)")
#TOF Port zuweisung
global sensor_tof1, sensor_tof2, adafruit_vl6180x, tca
# sensor_tof1 = adafruit_vl6180x.VL6180X(tca[int(tof1_port)])
# sensor_tof2 = adafruit_vl6180x.VL6180X(tca[int(tof2_port)])
sensor_tof1 = adafruit_vl6180x.VL6180X(tca[0])
sensor_tof2 = adafruit_vl6180x.VL6180X(tca[1])
#Calibrating TOFS
calibrate_tofs()
##########################################
# Measure Distance till Treshold reached #
##########################################
#Init with basic values
measured_distance = 666
measure_time = 0
treshold_tof1_reached_counter = 0 #success if 3 times under the treshold distance
treshold_tof2_reached_counter = 0 #success if 3 times under the treshold distance
while (measure_time <= tof_measurement_timeout_millis):
measured_distance_tof1 = tof1_distanzmessung()
measured_distance_tof2 = tof2_distanzmessung()
measure_time += 1
#Check Distanz1 Tof1 (etwas erkannt?)
if (measured_distance_tof1 <= tof1_threshold_max_distance_mm
and treshold_tof1_reached_counter < 3):
treshold_tof1_reached_counter += 1
elif (treshold_tof1_reached_counter >= 3):
logger.info("[TOF1]: Signal 3 mal unter Treshold, erkannt!")
#STOP Train
mc.uart_send_stop()
break
#Check Distanz2 Tof2 (etwas erkannt?)
if (measured_distance_tof2 <= tof2_threshold_max_distance_mm
and treshold_tof2_reached_counter < 3):
treshold_tof2_reached_counter += 1
elif (treshold_tof2_reached_counter >= 3):
logger.info("[TOF2]: Signal 3 mal unter Treshold, erkannt!")
#STOP Train
mc.uart_send_stop()
break
#########################################
# Return result (erkannt oder Timeout?) #
#########################################
if (treshold_tof1_reached_counter >= 3
or treshold_tof2_reached_counter >= 3):
logger.info("Haltesignal erkannt, Treshold erreicht, Stop the train!")
#stop train Signal senden!
return True
else:
logger.error(
"Timeout erreicht, Haltesignal Treshold nicht erreicht. Halte Zug an..."
)
mc.uart_send_stop()
return False
def test_distance():
i2c = busio.I2C(board.SCL, board.SDA)
sensor = adafruit_vl6180x.VL6180X(i2c)
print("\n\ntest_distance(): sensor range = " + str(sensor.range) + "mm")
assert (0 < sensor.range <= 255)
LAD=20 LAS=16 LS=12 GPIO.setmode(GPIO.BCM) GPIO.setwarnings(False) GPIO.setup(21,GPIO.OUT) GPIO.setup(20,GPIO.OUT) GPIO.setup(16,GPIO.OUT) GPIO.setup(12,GPIO.OUT) GPIO.output(21,GPIO.LOW) GPIO.output(20,GPIO.LOW) GPIO.output(12,GPIO.LOW) GPIO.output(16,GPIO.LOW) GPIO.output(21,GPIO.HIGH) sleep(0.1) i2c = busio.I2C(board.SCL, board.SDA) LD = adafruit_vl6180x.VL6180X(i2c) LD.set_address(i2c,0x50) GPIO.output(20,GPIO.HIGH) sleep(0.1) LAD = adafruit_vl6180x.VL6180X(i2c) LAD.set_address(i2c,0x51) GPIO.output(16,GPIO.HIGH) sleep(0.1) LAS = adafruit_vl6180x.VL6180X(i2c) LAS.set_address(i2c,0x52) GPIO.output(12,GPIO.HIGH) sleep(0.1) LS = adafruit_vl6180x.VL6180X(i2c) LS.set_address(i2c,0x53)
# Author: Michael Ruppen
import time
import board
import busio
import adafruit_vl6180x
# Create I2C bus.
i2c = busio.I2C(board.SCL, board.SDA)
# Create sensor instance.
#s = adafruit_vl6180x.VL6180X(i2c, adafruit_vl6180x.__VL6180X_I2C_SLAVE_DEVICE_ADDRESS = 0x0041)
sensor = adafruit_vl6180x._VL6180X_DEFAULT_I2C_ADDR = 0x0040
sensor1 = adafruit_vl6180x.VL6180X(i2c)
sensor1.__VL6180X_I2C_SLAVE_DEVICE_ADDRESS = 0x0040
sensor1.get_register(0x0040)
sensor_top = adafruit_vl6180x.VL6180X(i2c, 0x0029)
# sensor_bottom = adafruit_vl6180x.VL6180X(i2c, address=27)
# sensor_weight = adafruit_vl6180x.VL6180X(i2c, address=27)
# Main loop prints the range and lux every second:
while True:
# Read the range in millimeters and print it.
range_mm = sensor_top.range
if (range_mm != 255):
print("yeah got it")
print('Range: {0}mm'.format(range_mm))
def __init__(self):
self.i2c = busio.I2C(board.SCL, board.SDA)
self._address = 0x29
self._sensor = adafruit_vl6180x.VL6180X(self.i2c, self._address)
import time
import board
import busio
import adafruit_vl6180x
import adafruit_tca9548a
#struct library (used for byte conversions)
import struct
#I2C Bus Initialization
i2c = busio.I2C(board.SCL, board.SDA, frequency=5000000)
#MUX Object
tca = adafruit_tca9548a.TCA9548A(i2c)
#Sensors to be MUXed
#mpu = adafruit_mpu6050.MPU6050(tca[7])
tof_1 = adafruit_vl6180x.VL6180X(tca[7]) #changed from [1]
while True:
count = 0
lst = []
#convert to inches from mm
mm_range = tof_1.range
in_range = mm_range * 0.0393701
count = count + 1
lst.append(mm_range)
print("Range in mm: " + str(mm_range))
print("Range in inches: " + str(in_range))
time.sleep(0.5)
"""
Run this code first to verify that the Pi is capable of communicating with the sensor.
"""
import board
import digitalio
import busio
import adafruit_vl6180x
print(
"Verifying that CircuitPython modules with VL6180X installed properly...")
# Create digital input
pin = digitalio.DigitalInOut(board.D4)
print("Digital IO ok!")
# Create I2C device
i2c = busio.I2C(board.SCL, board.SDA)
print("I2C ok!")
# Create SPI device
spi = busio.SPI(board.SCLK, board.MOSI, board.MISO)
print("SPI ok!")
# Create VL6180X sensor
try:
sensor = adafruit_vl6180x.VL6180X(i2c) # link to I2C
print("VL6180X ok!")
except ValueError:
print("Sensor not detected! Is an I2C device connected?")
def run_healthcheck(cargo="undefined"):
"""[Healthcheck starten]
Arguments:
cargo {String} -- Cargo Parameter (default: {undefined})
Returns:
Boolean -- True, falls Healtcheck OK.
False, falls Fehler beim Healthcheck (siehe Log).
"""
print(
"Class Healthcheck not productive yet (99 percent done, testing ausstehend)."
)
##define flags for nice headers
cpu_flag, ram_flag, sonic_flag, tof1_flag, tof2_flag, camera_flag, mc_flag, passed_flag = "NA", "NA", "NA", "NA", "NA", "NA", "NA", "NA"
findings = 0
#Getting CPU
CPU_usage = getCPUuse()
#Getting RAM
RAM_stats = getRAMinfo()
RAM_free = round(int(RAM_stats[2]) / 1000, 1)
#Sollte kleiner als 10% sein
if (float(CPU_usage) >= 10):
logger.warn("CPU Usage too high!")
findings += 1
cpu_flag = CPU_usage
logger.info("CPU Usage: %s", str(CPU_usage))
#Sollte grösser als 300 sein
if (RAM_free <= 300):
logger.warn("Not enough RAM available!")
findings += 1
ram_flag = RAM_free
logger.info("RAM Free: %s", str(RAM_free))
#Get python prozesses
python_procs = "NA"
try:
python_procs = get_pid("python")
logger.warn("The follow Python-Processes are already running: ",
python_procs)
findings += 1
except:
logger.info("No python running, good2go!")
#Check if Camera Available
camera_result = (subprocess.check_output(
"vcgencmd get_camera",
shell=True)).decode("utf-8").rstrip() #decode and remove \n
if ((camera_result.rsplit(" ", 2)[0].split("=", 1)[1]) == "1"
and (camera_result.rsplit(" ", 2)[1].split("=", 1)[1]) == "1"):
camera_flag = True
logger.info("Camera ready! 📷")
else:
camera_flag = False
logger.warn("Camera not available! �")
findings += 1
#Check sonic
p = multiprocessing.Process(
target=check_sonic,
name="checksonic") #remember, pass functions without ()
p.start()
p.join(3)
if p.is_alive():
logger.warn("Sonic Check takes too long")
p.terminate()
p.join()
sonic_flag = False
findings += 1
else:
sonic_flag = check_sonic()
logger.info("Sonic test passed")
#Check TOF Multiplexer
try:
i2c = busio.I2C(board.SCL, board.SDA)
# Create the TCA9548A object and give it the I2C bus
tca = adafruit_tca9548a.TCA9548A(i2c)
logger.warn("I2C Multiplexer Device (0) Available (probably)")
tca_flag = True
except:
logger.warn("I2C Multiplexer Device (0) Unavailable")
findings += 1
tca_flag = False
#Check TOF 1
try:
i2c = busio.I2C(board.SCL, board.SDA)
tca = adafruit_tca9548a.TCA9548A(i2c)
sensor_tof1 = adafruit_vl6180x.VL6180X(tca[0])
logger.info("I2C Device (1) Available")
tof1_flag = True
except:
logger.warn("I2C Device (1) Unavailable")
findings += 1
tof1_flag = False
#Check TOF 2
try:
i2c = busio.I2C(board.SCL, board.SDA)
tca = adafruit_tca9548a.TCA9548A(i2c)
sensor_tof2 = adafruit_vl6180x.VL6180X(tca[1])
logger.info("I2C Device (2) Available")
tof2_flag = True
except:
logger.warn("I2C Device (1) Unavailable")
findings += 1
tof2_flag = False
#Check MC-COM
#mc_flag = check_microcontroller()
print("MC healtcheck bypassed!!")
mc_flag = True
if (mc_flag):
logger.info("MC is online and well 🤖!")
else:
logger.warn("MC is offline!")
findings += 1
#Validating Findings
if (findings > 0):
passed_flag = False
else:
passed_flag = True
logger.info("Healthcheck completed with '%s' findings", str(findings))
#Print Header Message
nice_headers.print_nice_headers(passed_flag, cpu_flag, ram_flag, tof1_flag,
tof2_flag, sonic_flag, camera_flag,
mc_flag)
return passed_flag
ser = serial.Serial(port, baudrate=9600, timeout=0.5)
info = parseGPS(ser.readline())
satelite_count = 16
except OSError: #Default to 0 if data not available
info = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
satelite_count = 0
try: #Try to read light sensor data
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)
#Setup the GPIO pin number 22
GPIO.setup(22, GPIO.OUT)
GPIO.output(22, GPIO.HIGH)
#Setup I2C connection
i2c = busio.I2C(board.SCL, board.SDA)
#Activate light sensor
sensor = adafruit_vl6180x.VL6180X(i2c)
#Read light sensor lux (luminosity index)
lux = sensor.read_lux(adafruit_vl6180x.ALS_GAIN_1)
except: #Default to 100 if faliure to recieve data
lux = lux
try: #Try to read in pitch and tilt data
tilt = Gyroscope.GYRO(True)[0]
pitch = Gyroscope.GYRO(True)[1]
except OSError: #If error set to level
tilt = 0
pitch = 0
try: #Try to go through headlight algorithm
if ((tilt > 25) or
(tilt < -25)): #Blink headlights if tilt is over -25 or 25 degrees
if Lights_on == 0:
#Activates headlights if currently off
def init_TOF_sensor(self, switch, address):
switch.value = True
time.sleep(0.05)
sensor = adafruit_vl6180x.VL6180X(self.i2c)
sensor.set_address(self.i2c, address)
return sensor
