88 lines
2.2 KiB
Python
88 lines
2.2 KiB
Python
# Importing Libraries
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import serial
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import time
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import PyLidar3
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arduino = serial.Serial(port='COM8', baudrate=9600)
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lidar = PyLidar3.YdLidarX4(port='COM6',chunk_size=20000) #PyLidar3.your_version_of_lidar(port,chunk_size)
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f = open("PoinCloudWeb.Scanner\datafile.txt","wt")
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print("Start ...")
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time.sleep(2)
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print("Ready:")
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def arduino_write_read(x):
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arduino.write(bytes(x, 'utf-8'))
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data = arduino.readline()
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return filterY(str(data))
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def setY(y):
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print(arduino_write_read("<set><"+str(y)+">"))
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def getY():
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print(arduino_write_read("<get>"))
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def resetY():
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print(arduino_write_read("<reset>"))
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def zerotY():
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print(arduino_write_read("<zero>"))
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def filterY(data):
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temp = data[data.find("<"):data.find(">")]
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return temp + data[data.find("><"):data.find(">", data.find("><")+2)+1]
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def senddata(data,posy):
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for x,y in data.items():
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f.write("y:" + str(posy) + "x:" + str(x) + "d:" + str(y) + "\n")
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def startScaner(mode):
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if(lidar.Connect()):
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print(lidar.GetDeviceInfo())
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gen = lidar.StartScanning()
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t = time.time() # start time
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if(mode == "0"):
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print("Mode 0")
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for y in range(18):
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senddata(next(gen),y*10)
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time.sleep(2)
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setY(y*10)
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time.sleep(2)
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setY(0)
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elif(mode == "1"):
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print("Mode 1")
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for y in range(90):
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senddata(next(gen),y*2)
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time.sleep(1)
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setY(y*2)
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time.sleep(1)
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setY(0)
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elif(mode == "2"):
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print("Mode 2")
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for y in range(360):
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senddata(next(gen),y*0.5)
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time.sleep(1)
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setY(y*0.5)
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time.sleep(1)
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setY(0)
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else:
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print("Mode Error")
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# data = next(gen)
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# #print(data)
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# for x,y in data.items():
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# f.write("a:" + str(x) + " d:" + str(y) + "\n")
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f.close()
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lidar.StopScanning()
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lidar.Disconnect()
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print("Scaner gestoppt")
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else:
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print("Error connecting to device")
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while True:
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startScaner(input("Scan Modus(0,1,2):"))
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# for x in range(18):
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# setY(x*10)
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# time.sleep(1) |