Mercurial > ukubik
changeset 89:61d88bb9cb9a
Distance sensor
| author | Radomir Dopieralski <sheep-devel@sheep.art.pl> |
|---|---|
| date | Fri, 26 Dec 2014 12:17:36 +0100 |
| parents | c38532de6cbc |
| children | da950915298d |
| files | distance.py joy.py robot.py servo.py ukubik/distance.ino ukubik/ukubik.ino |
| diffstat | 6 files changed, 41 insertions(+), 2 deletions(-) [+] |
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--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/distance.py Fri Dec 26 12:17:36 2014 +0100 @@ -0,0 +1,15 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +import serial +import kubik + + +def show_battery(robot): + while True: + print robot.get_distance() + yield + + +robot = kubik.Robot(serial.Serial('/dev/rfcomm0', 115200)) +robot.run_animations([show_battery(robot)], 6)
--- a/joy.py Fri Dec 26 12:17:07 2014 +0100 +++ b/joy.py Fri Dec 26 12:17:36 2014 +0100 @@ -52,7 +52,7 @@ else: self.gait = 'right' elif event.key == pygame.K_RETURN: - robot.beep(440, 100) + self.robot.beep(440, 100) elif event.type == pygame.KEYUP: if event.key in (pygame.K_RSHIFT, pygame.K_RCTRL): self.gait = '' @@ -68,7 +68,7 @@ else: self.gait = 'right' elif event.button == 0: - robot.beep(440, 100) + self.robot.beep(440, 100) else: print "Button %d" % event.button elif event.type == pygame.JOYBUTTONUP:
--- a/robot.py Fri Dec 26 12:17:07 2014 +0100 +++ b/robot.py Fri Dec 26 12:17:36 2014 +0100 @@ -64,6 +64,8 @@ sensors[4:7], # gyroscope sensors[3], # temperature ] + def get_distance(self): + return self.legs[0].hip.get_distance() def get_attitude(self): ((ax, ay, az), (gx, gy, gz), tmp) = self.get_accel()
--- a/servo.py Fri Dec 26 12:17:07 2014 +0100 +++ b/servo.py Fri Dec 26 12:17:36 2014 +0100 @@ -52,6 +52,13 @@ pass return [_read_word(self.serial) for w in range(7)] + def get_distance(self): + command = '\xf4' + self.serial.write(command) + while self.serial.read(1) != '\xff': + pass + return ord(self.serial.read(1)) + def beep(self, frequency, duration): command = '\xf1' self.serial.write(command)
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/ukubik/distance.ino Fri Dec 26 12:17:36 2014 +0100 @@ -0,0 +1,11 @@ +void distance_setup() { + pinMode(A0, INPUT); +} + +void do_distance() { + double reading = analogRead(A0); + unsigned char distance = min(255, 61.573 * pow(reading * 0.00488, -1.1068)); + + Serial.write(0xff); + Serial.write(distance); +}