ain0 = sensor_dict["analog"]["data"][0]
ain1 = sensor_dict["analog"]["data"][1]
ain2 =
Don't ask me why it works, I'm still trying to figure Python out, but it definitely works.
Entire script looks like this currently, this of course is just for testing purposes, only function is to read the analogue inputs, additions will be made later to control the motors, the signals I'm reading are coming from a pair of infrared distance measuring devices that use triangulation, this means type of reflected surface has little affect on the measurement.
- Code:
#! /usr/bin/python
# This example shows how to configure, and read from, the robot's sensors
import os
import sys
import time
import argparse
import py_websockets_bot
import py_websockets_bot.mini_driver
import py_websockets_bot.robot_config
#---------------------------------------------------------------------------------------------------
if __name__ == "__main__":
# Set up a parser for command line arguments
parser = argparse.ArgumentParser( "Gets sensor readings from the robot and displays them" )
parser.add_argument( "hostname", default="localhost", nargs='?', help="The ip address of the robot" )
args = parser.parse_args()
# Connect to the robot
bot = py_websockets_bot.WebsocketsBot( args.hostname )
# Estimate the offset between our system clock, and the robot's system clock. You only need
# to do this if you're interested in the age of the sensor readings. If you're not interested
# then you can leave it out of your own programs
#print "Estimating robot time offset (this will take about 10 seconds)..."
#robot_time_offset = bot.estimate_robot_time_offset()
# Configure the sensors on the robot
sensorConfiguration = py_websockets_bot.mini_driver.SensorConfiguration(
configD12=py_websockets_bot.mini_driver.PIN_FUNC_ULTRASONIC_READ,
configD13=py_websockets_bot.mini_driver.PIN_FUNC_DIGITAL_READ,
configA0=py_websockets_bot.mini_driver.PIN_FUNC_ANALOG_READ,
configA1=py_websockets_bot.mini_driver.PIN_FUNC_ANALOG_READ,
configA2=py_websockets_bot.mini_driver.PIN_FUNC_ANALOG_READ,
configA3=py_websockets_bot.mini_driver.PIN_FUNC_DIGITAL_READ,
configA4=py_websockets_bot.mini_driver.PIN_FUNC_ANALOG_READ,
configA5=py_websockets_bot.mini_driver.PIN_FUNC_ANALOG_READ,
leftEncoderType=py_websockets_bot.mini_driver.ENCODER_TYPE_QUADRATURE,
rightEncoderType=py_websockets_bot.mini_driver.ENCODER_TYPE_QUADRATURE )
# We set the sensor configuration by getting the current robot configuration and modifying it.
# In this way we don't trample on any other configuration settings
robot_config = bot.get_robot_config()
robot_config.miniDriverSensorConfiguration = sensorConfiguration
bot.set_robot_config( robot_config )
# Run in a loop until the user presses Ctrl+C to quit
while True:
try:
bot.update()
# The sensor readings are returned as part of the status of the robot
status_dict, read_time = bot.get_robot_status_dict()
sensor_dict = status_dict[ "sensors" ]
#data = sensor_dict[ sensor_name ][ "data" ]
ain0 = int(sensor_dict["analog"]["data"][0])
ain1 = int(sensor_dict["analog"]["data"][1])
# Print out information about the reading
#print sensor_name, ":"
print ain0
print ain1
#print "\r"
time.sleep( 0.040 )
os.system("clear")
except KeyboardInterrupt:
bot.disconnect()
print "\r"
print "Program terminated.\r"
sys.exit() # Catch Ctrl+C
Statistics: Posted by Puma — Thu May 14, 2015 8:28 am
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