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The module supports the LV-MaxSonar EZ1, EZ2, EZ3 and EZ4 ultrasonic range finders. It was developed and tested on the EZ3 variant. Signed-off-by: Jon Trulson <jtrulson@ics.com> Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
61 lines
2.1 KiB
Python
61 lines
2.1 KiB
Python
#!/usr/bin/python
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# Author: Jon Trulson <jtrulson@ics.com>
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# Copyright (c) 2015 Intel Corporation.
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#
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# Permission is hereby granted, free of charge, to any person obtaining
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# a copy of this software and associated documentation files (the
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# "Software"), to deal in the Software without restriction, including
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# without limitation the rights to use, copy, modify, merge, publish,
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# distribute, sublicense, and/or sell copies of the Software, and to
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# permit persons to whom the Software is furnished to do so, subject to
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# the following conditions:
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#
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# The above copyright notice and this permission notice shall be
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# included in all copies or substantial portions of the Software.
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#
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# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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# NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
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# LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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# OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
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# WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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import time, sys, signal, atexit
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import pyupm_maxsonarez as MaxSonarEZ
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# Instantiate a MaxSonar-EZ on analog pin A1, with an analog
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# reference voltage of MAXSONAREZ_AREF
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Sonar = MaxSonarEZ.MAXSONAREZ(1)
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## Exit handlers ##
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# This stops python from printing a stacktrace when you hit control-C
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def SIGINTHandler(signum, frame):
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raise SystemExit
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# This lets you run code on exit,
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# including functions from Sonar
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def exitHandler():
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print "Exiting"
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sys.exit(0)
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# Register exit handlers
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atexit.register(exitHandler)
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signal.signal(signal.SIGINT, SIGINTHandler)
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# analog voltage, usually 3.3 or 5.0
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MAXSONAREZ_AREF = 5.0;
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# Every second, sample the sonar and output the distance to an
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# object in inches.
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# With the EZ3 version, the minimum and maximum ranges seemed to be
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# between 6 and 33 inches
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while (1):
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print "AREF: {0}, distance in inches: {1}".format(
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MAXSONAREZ_AREF,
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Sonar.inches())
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time.sleep(1)
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