- def get_dist_left(self):
- if self.pub_range_left.get_num_connections() > 0:
- dist = self.get_dist_ir(0x1)
- if dist > -67:
- self.send_range(self.pub_range_left, "ir_left", Range.INFRARED, 30.553/(dist - -67.534), 0.04, 0.3, 1)
-
- def get_dist_right(self):
- if self.pub_range_right.get_num_connections() > 0:
- dist = self.get_dist_ir(0x3)
- if dist > 69:
- self.send_range(self.pub_range_right, "ir_right", Range.INFRARED, 17.4/(dist - 69), 0.04, 0.3, 1)
-