Delete TRSensors.py

TRSensors.py

-#!/usr/bin/python
-# -*- coding:utf-8 -*-
-import RPi.GPIO as GPIO
-import time
-
-CS = 5
-Clock = 25
-Address = 24
-DataOut = 23
-Button = 7
-
-class TRSensor(object):
-	def __init__(self,numSensors = 5):
-		self.numSensors = numSensors
-		self.calibratedMin = [0] * self.numSensors
-		self.calibratedMax = [1023] * self.numSensors
-		self.last_value = 0
-		GPIO.setmode(GPIO.BCM)
-		GPIO.setwarnings(False)
-		GPIO.setup(Clock,GPIO.OUT)
-		GPIO.setup(Address,GPIO.OUT)
-		GPIO.setup(CS,GPIO.OUT)
-		GPIO.setup(DataOut,GPIO.IN,GPIO.PUD_UP)
-		GPIO.setup(Button,GPIO.IN,GPIO.PUD_UP)
-		
-	"""
-	Reads the sensor values into an array. There *MUST* be space
-	for as many values as there were sensors specified in the constructor.
-	Example usage:
-	unsigned int sensor_values[8];
-	sensors.read(sensor_values);
-	The values returned are a measure of the reflectance in abstract units,
-	with higher values corresponding to lower reflectance (e.g. a black
-	surface or a void).
-	"""
-	def AnalogRead(self):
-		value = [0]*(self.numSensors+1)
-		#Read Channel0~channel6 AD value
-		for j in range(0,self.numSensors+1):
-			GPIO.output(CS, GPIO.LOW)
-			for i in range(0,4):
-				#sent 4-bit Address
-				if(((j) >> (3 - i)) & 0x01):
-					GPIO.output(Address,GPIO.HIGH)
-				else:
-					GPIO.output(Address,GPIO.LOW)
-				#read MSB 4-bit data
-				value[j] <<= 1
-				if(GPIO.input(DataOut)):
-					value[j] |= 0x01
-				GPIO.output(Clock,GPIO.HIGH)
-				GPIO.output(Clock,GPIO.LOW)
-			for i in range(0,6):
-				#read LSB 8-bit data
-				value[j] <<= 1
-				if(GPIO.input(DataOut)):
-					value[j] |= 0x01
-				GPIO.output(Clock,GPIO.HIGH)
-				GPIO.output(Clock,GPIO.LOW)
-			#no mean ,just delay
-#			for i in range(0,6):
-#				GPIO.output(Clock,GPIO.HIGH)
-#				GPIO.output(Clock,GPIO.LOW)
-			time.sleep(0.0001)
-			GPIO.output(CS,GPIO.HIGH)
-#		print value[1:]
-		return value[1:]
-		
-	"""
-	Reads the sensors 10 times and uses the results for
-	calibration.  The sensor values are not returned; instead, the
-	maximum and minimum values found over time are stored internally
-	and used for the readCalibrated() method.
-	"""
-	def calibrate(self):
-		max_sensor_values = [0]*self.numSensors
-		min_sensor_values = [0]*self.numSensors
-		for j in range(0,10):
-		
-			sensor_values = self.AnalogRead();
-			
-			for i in range(0,self.numSensors):
-			
-				# set the max we found THIS time
-				if((j == 0) or max_sensor_values[i] < sensor_values[i]):
-					max_sensor_values[i] = sensor_values[i]
-
-				# set the min we found THIS time
-				if((j == 0) or min_sensor_values[i] > sensor_values[i]):
-					min_sensor_values[i] = sensor_values[i]
-
-		# record the min and max calibration values
-		for i in range(0,self.numSensors):
-			if(min_sensor_values[i] > self.calibratedMin[i]):
-				self.calibratedMin[i] = min_sensor_values[i]
-			if(max_sensor_values[i] < self.calibratedMax[i]):
-				self.calibratedMax[i] = max_sensor_values[i]
-
-	"""
-	Returns values calibrated to a value between 0 and 1000, where
-	0 corresponds to the minimum value read by calibrate() and 1000
-	corresponds to the maximum value.  Calibration values are
-	stored separately for each sensor, so that differences in the
-	sensors are accounted for automatically.
-	"""
-	def	readCalibrated(self):
-		value = 0
-		#read the needed values
-		sensor_values = self.AnalogRead();
-
-		for i in range (0,self.numSensors):
-
-			denominator = self.calibratedMax[i] - self.calibratedMin[i]
-
-			if(denominator != 0):
-				value = (sensor_values[i] - self.calibratedMin[i])* 1000 / denominator
-				
-			if(value < 0):
-				value = 0
-			elif(value > 1000):
-				value = 1000
-				
-			sensor_values[i] = value
-		
-		#print("readCalibrated",sensor_values)
-		return sensor_values
-			
-	"""
-	Operates the same as read calibrated, but also returns an
-	estimated position of the robot with respect to a line. The
-	estimate is made using a weighted average of the sensor indices
-	multiplied by 1000, so that a return value of 0 indicates that
-	the line is directly below sensor 0, a return value of 1000
-	indicates that the line is directly below sensor 1, 2000
-	indicates that it's below sensor 2000, etc.  Intermediate
-	values indicate that the line is between two sensors.  The
-	formula is:
-
-	   0*value0 + 1000*value1 + 2000*value2 + ...
-	   --------------------------------------------
-			 value0  +  value1  +  value2 + ...
-
-	By default, this function assumes a dark line (high values)
-	surrounded by white (low values).  If your line is light on
-	black, set the optional second argument white_line to true.  In
-	this case, each sensor value will be replaced by (1000-value)
-	before the averaging.
-	"""
-	def readLine(self, white_line = 0):
-
-		sensor_values = self.readCalibrated()
-		avg = 0
-		sum = 0
-		on_line = 0
-		for i in range(0,self.numSensors):
-			value = sensor_values[i]
-			if(white_line):
-				value = 1000-value
-			# keep track of whether we see the line at all
-			if(value > 200):
-				on_line = 1
-				
-			# only average in values that are above a noise threshold
-			if(value > 50):
-				avg += value * (i * 1000);  # this is for the weighted total,
-				sum += value;                  #this is for the denominator 
-
-		if(on_line != 1):
-			# If it last read to the left of center, return 0.
-			if(self.last_value < (self.numSensors - 1)*1000/2):
-				#print("left")
-				self.last_value = 0;
-	
-			# If it last read to the right of center, return the max.
-			else:
-				#print("right")
-				self.last_value = (self.numSensors - 1)*1000
-		else:
-			self.last_value = avg/sum
-		
-		return self.last_value,sensor_values
-	
-
-
-# Simple example prints accel/mag data once per second:
-if __name__ == '__main__':
-	TR = TRSensor()
-	print("TRSensor Example")
-	while True:
-		print(TR.AnalogRead())
-		time.sleep(0.2)
-
-