CliffSensor

robodyno.components.can_bus.cliff_sensor

Cliff sensor driver

The cliff sensor can be used to get the distance.

示例：

>>> from robodyno.components import CliffSensor
>>> from robodyno.interfaces import CanBus
>>> can = CanBus()
>>> cliff_sensor = CliffSensor(can)
>>> print(cliff_sensor.get_distance())
32

CliffSensor

Bases: CanBusDevice

Cliff sensor driver

属性：

名称	类型	描述
id(int)		Device id.
type(Model)		Device type.
fw_ver(float)		Firmware version.

__init__(can, id_=48)

Initializes the cliff driver. Args: can(CanBus):Can bus instance. id_(int):Device id.

引发：

类型	描述
ValueError	If the device id is invalid.

config_can_bus(new_id=None, bitrate=1000000)

Configures the can bus.

参数：

名称	类型	描述	默认
new_id	int	New device id.	None
bitrate	int	Can bus bitrate.	1000000

引发：

类型	描述
ValueError	If the new id is invalid.

get_distance(timeout=0.02)

Reads the distance.

参数：

名称	类型	描述	默认
timeout	float	Timeout in seconds.	0.02

返回：

类型	描述
float | None	The distance value read by the cliff sensor. Returns None if the read times out. Unit: centimeters.