def run():
mylidar = RPLidar(PORT_NAME, baudrate=115200)
# info = mylidar.get_info()
# print(info)
# health = mylidar.get_health()
# print(health)
aver2 = 0
mylidar_scan = []
for y in range(0, 15):
for i, scan in enumerate(
mylidar.iter_scans(scan_type='normal', max_buf_meas=60000)):
#print('%d: Got %d measures' % (i, len(scan)))
#
mylidar_scan.append(scan)
if i > 10:
break
for i in range(len(mylidar_scan)): #aantal rondes
som = []
#print("Len lidarscan i : ", len(mylidar_scan[i]))
for row in mylidar_scan[i]: #aantal metingen in het rondje
#mylist = mylidar_scan[i][j]
# print(mylist[2])
if 86.5 < row[1] < 89 and 150 < row[2] < 300:
som.append(row[2])
#print(row)
som = np.array(som)
print('som: ', som)
aver = np.mean(som)
# stats.mode()
print("avg: ", aver)
'''
total2 = len(mylidar_scan)
aver2 = aver + aver2
aver2 = aver2/ total2
print("total aver: ",aver2)'''
mylidar.clean_input()
mylidar.stop()
mylidar.stop_motor()
mylidar.disconnect()
def find_exact_vanes(self, lower_angle_L, lower_angle_R, upper_angle_L, upper_angle_R, lower_distance_L, lower_distance_R,
upper_distance_L, upper_distance_R):
mylidar = RPLidar("COM3", baudrate=115200)
mylidar_scan = []
total_average_left_vane = []
total_average_right_vane = []
total_average_angle_left_vane = []
total_average_angle_right_vane = []
for y in range(0, 20):
for i, scan in enumerate(mylidar.iter_scans(scan_type='normal',
max_buf_meas=60000)): # scan_type='normal', max_buf_meas=60000
mylidar_scan.append(scan)
if i > 10:
break
for i in range(len(mylidar_scan)): # aantal rondes
left_vane = []
right_vane = []
for j in range(len(mylidar_scan[i])): # aantal metingen in het rondje
my_list = mylidar_scan[i][j]
if lower_angle_L < my_list[1] < upper_angle_L and lower_distance_L < my_list[2] < upper_distance_L:
left_vane.append(my_list)
elif lower_angle_R < my_list[1] < upper_angle_R and lower_distance_R < my_list[2] < upper_distance_R:
right_vane.append(my_list)
# print("arr_avg: ", arr_avg)
if left_vane:
left_vane = np.array(left_vane)
average_left_vane = np.mean(left_vane[:, 2])
average_angle_left_vane = np.mean(left_vane[:, 1])
total_average_left_vane.append(average_left_vane)
total_average_angle_left_vane.append(average_angle_left_vane)
print("Average left", average_left_vane)
if right_vane:
right_vane = np.array(right_vane)
average_right_vane = np.mean(right_vane[:, 2])
average_angle_right_vane = np.mean(right_vane[:, 1])
total_average_right_vane.append(average_right_vane)
total_average_angle_right_vane.append(average_angle_right_vane)
print("Average right", average_right_vane)
mylidar.clean_input()
grand_total_left = np.mean(total_average_left_vane)
grand_total_right = np.mean(total_average_right_vane)
grand_total_left_angle = np.mean(total_average_angle_left_vane)
grand_total_right_angle = np.mean(total_average_angle_right_vane)
print("totaal links:", grand_total_left)
print("totaal rechts:", grand_total_right)
print("totaal hoek links:", grand_total_left_angle)
print("totaal hoek rechts:", grand_total_right_angle)
mylidar.stop()
mylidar.stop_motor()
mylidar.disconnect()
return grand_total_left, grand_total_right, grand_total_left_angle, grand_total_right_angle
def run(lower_angle_L, lower_angle_R, upper_angle_L, upper_angle_R,
lower_distance_L, lower_distance_R, upper_distance_L,
upper_distance_R):
mylidar = RPLidar(PORT_NAME, baudrate=115200)
total = 0
arr_avg_L = []
arr_avg_R = []
avg_angle_L = []
avg_angle_R = []
mylidar_scan = []
angle_L = 0
angle_R = 0
dist_L = 0
dist_R = 0
for y in range(0, 15):
for i, scan in enumerate(
mylidar.iter_scans(scan_type='normal', max_buf_meas=60000)):
# print('%d: Got %d measures' % (i, len(scan)))
#
mylidar_scan.append(scan)
if i > 10:
break
for i in range(len(mylidar_scan)): # aantal rondes
# print("Len lidarscan i : ", len(mylidar_scan[i]))
for j in range(len(
mylidar_scan[i])): # aantal metingen in het rondje
mylist = mylidar_scan[i][j]
# print(mylist[2])
if lower_angle_L < mylist[
1] < upper_angle_L and lower_distance_L < mylist[
2] < upper_distance_L:
dist_L = mylist[2]
angle_L = mylist[1]
total = 1
elif lower_angle_R < mylist[
1] < upper_angle_R and lower_distance_R < mylist[
2] < upper_distance_R:
dist_R = mylist[2]
angle_R = mylist[1]
total = 1
if total == 1:
# aver = som / total
avg_angle_L.append(angle_L)
avg_angle_R.append(angle_R)
arr_avg_L.append(dist_L)
arr_avg_R.append(dist_R)
total = 0
# print("arr_avg: ", arr_avg)
arr_mean_L = np.mean(arr_avg_L)
arr_mean_R = np.mean(arr_avg_R)
arr_avg_angle_L = np.mean(avg_angle_L)
arr_avg_angle_R = np.mean(avg_angle_R)
print("Average Left: ", arr_mean_L)
print("Average Right: ", arr_mean_R)
mylidar.clean_input()
mylidar.stop()
mylidar.stop_motor()
mylidar.disconnect()
return arr_mean_L, arr_mean_R, arr_avg_angle_L, arr_avg_angle_R
import pygame
from pygame.locals import *
from rplidar import RPLidar
from math import sin, cos, pi
#from time import sleep
def sleep(a):
pass
lidar = RPLidar("/dev/ttyUSB0")
lidar.clean_input()
lidar.start_motor()
lidar.start()
lidar.stop_motor()
lidar.stop()
def degrees(a):
return a * pi / 180
pygame.init()
WIDTH = 600
HEIGHT = 600
screen = pygame.display.set_mode((WIDTH * 2, HEIGHT))
def scanWalls(closeDist, farDist):
a = 0
