The Ultraschallsensor is finished and all addresses are added.
This commit is contained in:
@@ -19,227 +19,268 @@ bus = smbus.SMBus(1)
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#################################################################################
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class Ultrasonic():
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'''This class is responsible for handling i2c requests to an ultrasonic sensor'''
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'''This class is responsible for handling i2c requests to an ultrasonic sensor'''
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def __init__(self,address):
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self.address = address
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# Aufgabe 2
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#
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# Diese Methode soll ein Datenbyte an den Ultraschallsensor senden um eine Messung zu starten
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def write(self,value):
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return 0
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def __init__(self,address):
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self.address = address
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# Aufgabe 2
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#
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# Diese Methode soll ein Datenbyte an den Ultraschallsensor senden um eine Messung zu starten
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def write(self,value):
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try:
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bus.write_byte_data(self.address, 0x00, 0x51)
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except:
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print "ERROR: Ultrasonic sensor start failed!"
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return 0
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# Aufgabe 2
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#
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# Diese Methode soll den Lichtwert auslesen und zurueckgeben.
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def get_brightness(self):
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return 0
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# Aufgabe 2
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#
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# Diese Methode soll den Lichtwert auslesen und zurueckgeben.
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def get_brightness(self):
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try:
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light_v = bus.read_byte_data(self.address, 0x01)
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except:
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print "ERROR: Ultrasonic sensor get brightness failed!"
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return light_v
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# Aufgabe 2
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#
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# Diese Methode soll die Entfernung auslesen und zurueckgeben.
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def get_distance(self):
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return 0
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# Aufgabe 2
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#
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# Diese Methode soll die Entfernung auslesen und zurueckgeben.
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def get_distance(self):
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try:
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range_High_Byte = bus.read_byte_data(self.address, 0x02)
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range_Low_Byte = bus.read_byte_data(self.address, 0x03)
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dist = (range_High_Byte << 8) + range_Low_Byte
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except:
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print "ERROR: Ultrasonic sensor get distance failed!"
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return dist
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def get_address(self):
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return self.address
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def get_address(self):
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return self.address
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class UltrasonicThread(threading.Thread):
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''' Thread-class for holding ultrasonic data '''
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''' Thread-class for holding ultrasonic data '''
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# distance to obstacle in cm
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distance = 0
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stop = False
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# brightness value
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brightness = 0
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# distance to obstacle in cm
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distance = 0
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# Aufgabe 4
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#
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# Hier muss der Thread initialisiert werden.
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def __init__(self, address):
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return 0
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# brightness value
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brightness = 0
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# Aufgabe 4
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#
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# Schreiben Sie die Messwerte in die lokalen Variablen
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def run(self):
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while not self.stopped:
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continue
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def stop(self):
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self.stopped = True
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# Aufgabe 4
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#
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# Hier muss der Thread initialisiert werden.
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def __init__(self, address):
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try:
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threading.Thread.__init__(self)
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time.sleep(0.1)
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self.ultrasonic = Ultrasonic(address)
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self.setDaemon(True)
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self.start()
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except:
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print "ERROR: Ultrasonic sensor thread init failed!"
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return 0
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# Aufgabe 4
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#
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# Schreiben Sie die Messwerte in die lokalen Variablen
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def run(self):
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while not self.stopped:
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distance = self.ultrasonic.get_distance()
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brightness = self.ultrasonic.get_brightness()
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continue
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def stop(self):
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self.stopped = True
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#################################################################################
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# Compass
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#################################################################################
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class Compass(object):
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'''This class is responsible for handling i2c requests to a compass sensor'''
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'''This class is responsible for handling i2c requests to a compass sensor'''
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def __init__(self,address):
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self.address = address
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def __init__(self,address):
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self.address = address
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# Aufgabe 2
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#
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# Diese Methode soll den Kompasswert auslesen und zurueckgeben.
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def get_bearing(self):
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b = 0
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try:
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# Aufgabe 2
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#
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# Diese Methode soll den Kompasswert auslesen und zurueckgeben.
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def get_bearing(self):
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b = 0
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try:
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bear1 = bus.read_byte_data(address, 2)
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bear2 = bus.read_byte_data(address, 3)
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bear = (bear1 << 8) + bear2
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b = bear/10.0
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except:
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print "Bearing konnte nicht ausgelesen werden!"
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return b
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print "Bearing konnte nicht ausgelesen werden!"
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return b
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class CompassThread(threading.Thread):
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''' Thread-class for holding compass data '''
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''' Thread-class for holding compass data '''
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# Compass bearing value
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bearing = 0
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# Compass bearing value
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bearing = 0
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# Aufgabe 4
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#
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# Hier muss der Thread initialisiert werden.
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def __init__(self, address):
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return 0
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# Aufgabe 4
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#
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# Hier muss der Thread initialisiert werden.
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def __init__(self, address):
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return 0
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# Aufgabe 4
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#
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# Diese Methode soll den Kompasswert aktuell halten.
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def run(self):
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while not self.stopped:
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continue
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# Aufgabe 4
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#
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# Diese Methode soll den Kompasswert aktuell halten.
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def run(self):
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while not self.stopped:
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continue
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def stop(self):
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self.stopped = True
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def stop(self):
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self.stopped = True
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#################################################################################
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# Infrared
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#################################################################################
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class Infrared(object):
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'''This class is responsible for handling i2c requests to an infrared sensor'''
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'''This class is responsible for handling i2c requests to an infrared sensor'''
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def __init__(self,address):
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self.address = address
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# Aufgabe 2
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#
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# In dieser Methode soll der gemessene Spannungswert des Infrarotsensors ausgelesen werden.
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def get_voltage(self):
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voltage = 0
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try:
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voltage = bus.read_byte(self.address)
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except:
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print "Spannung konnte nicht ausgelesen werden!"
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return voltage
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def __init__(self,address):
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self.address = address
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# Aufgabe 2
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#
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# In dieser Methode soll der gemessene Spannungswert des Infrarotsensors ausgelesen werden.
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def get_voltage(self):
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voltage = 0
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try:
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voltage = bus.read_byte(self.address)
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except:
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print "Spannung konnte nicht ausgelesen werden!"
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return voltage
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# Aufgabe 3
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#
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# Der Spannungswert soll in einen Distanzwert umgerechnet werden.
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def get_distance(self):
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# v=(readChannel(0)/1023.0)*3.3
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# Aufgabe 3
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#
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# Der Spannungswert soll in einen Distanzwert umgerechnet werden.
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def get_distance(self):
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# v=(readChannel(0)/1023.0)*3.3
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v = self.get_voltage()
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# interpolation von https://tutorials-raspberrypi.de/wp-content/uploads/gp2y0a02yk-600x455.png
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dist = 16.2537 * v**4 - 129.893 * v**3 + 382.268 * v**2 - 512.611 * v + 301.439
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return dist
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return dist
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class InfraredThread(threading.Thread):
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''' Thread-class for holding Infrared data '''
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''' Thread-class for holding Infrared data '''
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# distance to an obstacle in cm
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distance = 0
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# distance to an obstacle in cm
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distance = 0
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# length of parking space in cm
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parking_space_length = 0
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# length of parking space in cm
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parking_space_length = 0
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# Aufgabe 4
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#
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# Hier muss der Thread initialisiert werden.
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def __init__(self, address, encoder=None):
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return 0
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# Aufgabe 4
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#
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# Hier muss der Thread initialisiert werden.
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def __init__(self, address, encoder=None):
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return 0
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def run(self):
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while not self.stopped:
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read_infrared_value()
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calculate_parking_space_length()
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def run(self):
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while not self.stopped:
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read_infrared_value()
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calculate_parking_space_length()
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# Aufgabe 4
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#
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# Diese Methode soll den Infrarotwert aktuell halten
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def read_infrared_value(self):
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return 0
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# Aufgabe 4
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#
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# Diese Methode soll den Infrarotwert aktuell halten
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def read_infrared_value(self):
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return 0
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# Aufgabe 5
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#
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# Hier soll die Berechnung der Laenge der Parkluecke definiert werden
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def calculate_parking_space_length(self):
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return 0
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# Aufgabe 5
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#
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# Hier soll die Berechnung der Laenge der Parkluecke definiert werden
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def calculate_parking_space_length(self):
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return 0
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def stop(self):
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self.stopped = True
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def stop(self):
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self.stopped = True
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#################################################################################
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# Encoder
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#################################################################################
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class Encoder(object):
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''' This class is responsible for handling encoder data '''
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''' This class is responsible for handling encoder data '''
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# Aufgabe 2
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#
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# Wieviel cm betraegt ein einzelner Encoder-Schritt?
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STEP_LENGTH = 0 # in cm
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# Aufgabe 2
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#
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# Wieviel cm betraegt ein einzelner Encoder-Schritt?
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STEP_LENGTH = 0 # in cm !!!ONP: to measure the wheel!!!
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# number of encoder steps
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count = 0
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# number of encoder steps
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counter = 0
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def __init__(self, pin):
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self.pin = pin
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def __init__(self, pin):
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self.pin = pin
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GPIO.add_event_detect(encoder_pin, GPIO.BOTH, callback=count, bouncetime=1)
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# Aufgabe 2
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#
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# Jeder Flankenwechsel muss zur Berechnung der Entfernung gezaehlt werden.
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# Definieren Sie alle dazu noetigen Methoden.
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# Aufgabe 2
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#
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# Jeder Flankenwechsel muss zur Berechnung der Entfernung gezaehlt werden.
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# Definieren Sie alle dazu noetigen Methoden.
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# Aufgabe 2
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#
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# Diese Methode soll die gesamte zurueckgelegte Distanz zurueckgeben.
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def get_travelled_dist(self):
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return 0
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def count(channel):
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global counter
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counter = counter + 1
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print "Number of impulses" + str(counter)
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# Aufgabe 2
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#
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# Diese Methode soll die gesamte zurueckgelegte Distanz zurueckgeben.
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def get_travelled_dist(self):
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global counter
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global STEP_LENGTH
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dist = counter * STEP_LENGTH
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return dist
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class EncoderThread(threading.Thread):
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''' Thread-class for holding speed and distance data of all encoders'''
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''' Thread-class for holding speed and distance data of all encoders'''
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# current speed.
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speed = 0
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# current speed.
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speed = 0
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# currently traversed distance.
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distance = 0
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# currently traversed distance.
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distance = 0
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# Aufgabe 4
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#
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# Hier muss der Thread initialisiert werden.
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def __init__(self, encoder):
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return 0
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# Aufgabe 4
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#
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# Hier muss der Thread initialisiert werden.
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def __init__(self, encoder):
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try:
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GPIO.setmode(GPIO.BCM)
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GPIO.setup(encoder_pin, GPIO.IN)
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except:
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print "ERROR: Encoder GPIO init failed!"
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return 0
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def run(self):
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while not self.stopped:
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get_values()
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def run(self):
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while not self.stopped:
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get_values()
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# Aufgabe 4
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#
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# Diese Methode soll die aktuelle Geschwindigkeit sowie die zurueckgelegte Distanz aktuell halten.
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def get_values(self):
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return 0
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# Aufgabe 4
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#
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# Diese Methode soll die aktuelle Geschwindigkeit sowie die zurueckgelegte Distanz aktuell halten.
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def get_values(self):
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return 0
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def stop(self):
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self.stopped = True
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def stop(self):
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self.stopped = True
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#################################################################################
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# Main Thread
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@@ -247,23 +288,23 @@ class EncoderThread(threading.Thread):
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if __name__ == "__main__":
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# The GPIO pin to which the encoder is connected
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encoder_pin = 23
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# The GPIO pin to which the encoder is connected
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encoder_pin = 23
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# Aufgabe 1
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#
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# Tragen Sie die i2c Adressen der Sensoren hier ein
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# Aufgabe 1
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#
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# Tragen Sie die i2c Adressen der Sensoren hier ein
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# The i2c addresses of front and rear ultrasound sensors
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ultrasonic_front_i2c_address = 0x00;
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ultrasonic_rear_i2c_address = 0x00;
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# The i2c addresses of front and rear ultrasound sensors
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ultrasonic_front_i2c_address = 0x70;
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ultrasonic_rear_i2c_address = 0x71;
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# The i2c address of the compass sensor
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compass_i2c_address = 0x00
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# The i2c address of the compass sensor
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compass_i2c_address = 0x60
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# The i2c address of the infrared sensor
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infrared_i2c_address = 0x00
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# The i2c address of the infrared sensor
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infrared_i2c_address = 0x4f
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# Aufgabe 6
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#
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# Hier sollen saemtlichen Messwerte periodisch auf der Konsole ausgegeben werden.
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# Aufgabe 6
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#
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# Hier sollen saemtlichen Messwerte periodisch auf der Konsole ausgegeben werden.
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Reference in New Issue
Block a user