feat: capture and process lidar data #73
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MichelGerding
requested changes
Apr 10, 2024
Comment on lines
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| if min(self.scan_data[20:120]) < 2500: | ||
| for i in range(20, 120): |
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please use globals for this
src/utils/lidar.py
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| :param port_name: the name of the port | ||
| """ | ||
| self.port_name = port_name | ||
| self.lidar = RPLidar(None, self.port_name, timeout=3) |
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use config for the port name
jajajaja234
reviewed
Apr 11, 2024
src/utils/lidar.py
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| config = ConfigLoader() | ||
| self.port_name = config.lidar.port_name | ||
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| print(' PAASHAAS ') |
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lidar.py contains the Lidar class for interacting with a lidar.
Usage:
find_obstacle_distance(self, anglemin: int, anglemax: int): Finds the distance to the closest obstacle within a specified angle range.
right_free(self): Checks if the right side of the car is free of obstacles.
free_side(self, anglemin: int, anglemax: int): Checks if a specified angle range is free of obstacles.
data_processing(self): Processes the raw data from the LIDAR device.
capture(self): Continuously captures data from the LIDAR device and updates the scan_data attribute.
start(self): Starts the LIDAR device and begins capturing data.
stop(self): Stops the LIDAR device and ends data capture.