From: Erik Andresen <erik@vontaene.de>
Date: Thu, 7 May 2015 11:37:16 +0000 (+0200)
Subject: move_base: support for srf & ir
X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=commitdiff_plain;h=ddf4584adbff050304f201a528f25c633e10c79d

move_base: support for srf & ir
---

diff --git a/scripts/move_base.py b/scripts/move_base.py
index 6886ec0..bac2742 100755
--- a/scripts/move_base.py
+++ b/scripts/move_base.py
@@ -20,6 +20,10 @@ class MoveBase:
 	def run(self):
 		rate = rospy.Rate(10.0)
 		while not rospy.is_shutdown():
+			#self.get_dist_forward()
+			#self.get_dist_backward()
+			#self.get_dist_left()
+			#self.get_dist_right()
 			rate.sleep()
 
 	def set_speed(self, left, right):
@@ -46,6 +50,48 @@ class MoveBase:
 		left = trans*2-right
 		self.set_speed(left, right)
 
+	# http://rn-wissen.de/wiki/index.php/Sensorarten#Sharp_GP2D12
+	def get_dist_ir(self, num):
+		dev = i2c(0x52)
+		s = struct.pack("B", num)
+		dev.write(s)
+		dev.close()
+
+		sleep(2e-6)
+
+		dev = i2c(0x52)
+		s = dev.read(2)
+		dev.close()
+
+		val = struct.unpack(">H", s)[0]
+		return 15221/(val - -276.42)/100;
+	
+	def get_dist_srf(self, num):
+		dev = i2c(0x52)
+		s = struct.pack("B", num)
+		dev.write(s)
+		dev.close()
+
+		sleep(50e-3)
+
+		dev = i2c(0x52)
+		s = dev.read(2)
+		dev.close()
+
+		return struct.unpack(">H", s)[0]/1000.0
+
+	def get_dist_left(self):
+		dist = self.get_dist_ir(0x1)
+
+	def get_dist_right(self):
+		 dist = self.get_dist_ir(0x3)
+
+	def get_dist_forward(self):
+		dist = self.get_dist_srf(0x5)
+
+	def get_dist_backward(self):
+		dist = self.get_dist_srf(0x7)
+
 
 if __name__ == "__main__":
 	MoveBase()