def calculateWidth(self):
"""Calculates width between last two points. Returns value to gui"""
p = Point(isaWidth=True)
p.value, p.error, p.angle = self.data.getWidth(self.prevpoint, self.prevprevpoint)
#p = Point(val, 0, error, True)
self.sendPoint(p)
return
def __init__(self):
QObject.__init__(self)
self.prevpoint = Point()
self.prevprevpoint = Point()
self.hardware = HardwareControl()
self.data = DataProcessing()
self.motorTimer = QTimer(self)
self.basemotorstep = 1
self.motorbasepause = 5
self.motorpause = 5*self.motorbasepause
self.motorTimer.timeout.connect(self.motorStep)
def getMap(self, leftAngle=-180, rightAngle=180, resolution=10):
"""
Does scan of a room, creates Map() and image.
Returns Map() to Gui
"""
#turn of the laser pointer off if on
if self.hardware.Laser.value != 0:
self.hardware.Laser.off()
#starting angle and angle boundaries
startangle = self.hardware.Motor.angle
leftbound = max((leftAngle + startangle), -180)
rightbound = min((rightAngle + startangle), 180)
#to minimise movement unneccesary, decide whether move first right or left
direction = 1 if startangle >= 0 else -1
#basestep decides on resolution of the scan, 10 lvl of resolution
basestep = -4 * direction * (11 - resolution)
#move to the start position
if direction == 1:
self.hardware.turnMotor(rightAngle)
else:
self.hardware.turnMotor(leftAngle)
#list to store points
lpoint = []
#do the scan
while (self.hardware.Motor.angle < rightbound
and direction == -1) or (self.hardware.Motor.angle > leftbound
and direction == 1):
print("entered scan", self.hardware.Motor.angle)
#get distance at current position:
lval = self.hardware.getDistance()
#discard empty list
if len(lval) != 0:
dist, error = self.data.analyseValues(lval)
angle = self.hardware.Motor.angle
lpoint.append(Point(dist, angle, error))
#move to next position
self.hardware.turnMotor(basestep, True)
#create a map
print("dlugosc lpoint:", len(lpoint))
scan = Map(lpoint)
scan.mapImage.save("test/testdata.png") #test
#send map to GUI
self.sendMap(scan)
#move back to start position
self.hardware.turnMotor((startangle - self.hardware.Motor.angle))
return
def measureDistance(self):
"""Measures distance to the object, returns point to gui"""
lval = self.hardware.getDistance()
dist, error = self.data.analyseValues(lval)
angle = self.hardware.Motor.angle
self.prevprevpoint = self.prevpoint
self.prevpoint = Point(dist, angle, error)
self.sendPoint(self.prevpoint)
return