Danny Staple
43 lines
1.3 KiB
Python
43 lines
1.3 KiB
Python
import time
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import json
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import robot
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import asyncio
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def send_json(data):
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robot.send_line(json.dumps(data))
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class DistanceSensorTracker:
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def __init__(self):
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robot.left_distance.distance_mode = 2
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robot.right_distance.distance_mode = 2
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self.left = 300
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self.right = 300
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async def main(self):
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robot.left_distance.start_ranging()
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robot.right_distance.start_ranging()
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while True:
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if robot.left_distance.data_ready and robot.left_distance.distance:
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self.left = robot.left_distance.distance * 10 # convert to mm
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robot.left_distance.clear_interrupt()
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if robot.right_distance.data_ready and robot.right_distance.distance:
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self.right = robot.right_distance.distance * 10
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robot.right_distance.clear_interrupt()
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await asyncio.sleep(0.01)
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async def distance_reporter(sensors: DistanceSensorTracker):
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while True:
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data = {
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"distance": {
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"left": sensors.left,
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"right": sensors.right
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}
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}
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print(data)
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send_json(data)
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await asyncio.sleep(0.1)
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distance_sensors = DistanceSensorTracker()
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asyncio.create_task(distance_sensors.main())
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asyncio.run(distance_reporter(distance_sensors))
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