UltrasonicSensor

robodyno.components.can_bus.ultrasonic_sensor

Ultrasonic sensor driver

The Ultrasonic sensor can be used to get the distance.

示例：

>>> from robodyno.components import UltrasonicSensor
>>> from robodyno.interfaces import CanBus
>>> can = CanBus()
>>> ultrasonic_sensor = UltrasonicSensor(can)
>>> print(ultrasonic_sensor.get_distance())
57.646400451660156

UltrasonicSensor

Bases: CanBusDevice

Ultrasonic 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_=53)

Initializes the ultrasonic sensor 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=0.15)

Reads the distance.

参数：

名称	类型	描述	默认
timeout	float	Timeout in seconds.	0.15

返回：

类型	描述
float | 250.0	The distance value read by the ultrasonic sensor. Returns 250.0 if the read times out. Unit: centimeters.