64 lines
1.8 KiB
Python
64 lines
1.8 KiB
Python
from sensor.tofsensor import Directions, ToFSensor
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import VL53L1X
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# Reference: https://github.com/pimoroni/vl53l1x-python
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#
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# Left, right, top and bottom are relative to the SPAD matrix coordinates,
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# which will be mirrored in real scene coordinates.
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# (or even rotated, depending on the VM53L1X element alignment on the board and on the board position)
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#
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# ROI in SPAD matrix coords:
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#
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# 15 top-left
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# | X____
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# | | |
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# | |____X
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# | bottom-right
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# 0__________15
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#
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class VL53L1XSensor (ToFSensor):
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def __init__(self) -> None:
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super().__init__()
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def open(self) -> None:
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self.sensor = VL53L1X.VL53L1X(i2c_bus=1, i2c_address=0x29)
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self.sensor.open()
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# Optionally set an explicit timing budget
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# These values are measurement time in microseconds,
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# and inter-measurement time in milliseconds.
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# If you uncomment the line below to set a budget you
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# should use `tof.start_ranging(0)`
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# tof.set_timing(66000, 70)
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self.ranging = 2
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# 0 = Unchanged
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# 1 = Short Range
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# 2 = Medium Range
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# 3 = Long Range
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def setDirection(self, direction: Directions) -> None:
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"""Configure sensor to pick up the distance in a specific direction.
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"""
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direction_roi = {
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Directions.INSIDE: VL53L1X.VL53L1xUserRoi(6, 3, 9, 0),
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Directions.OUTSIDE: VL53L1X.VL53L1xUserRoi(6, 15, 9, 12)
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}
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roi = direction_roi[direction]
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self.sensor.stop_ranging()
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self.sensor.set_user_roi(roi)
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self.sensor.start_ranging(self.ranging)
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def getDistance(self) -> float:
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"""Returns new distance in cm.
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"""
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distance = self.sensor.get_distance()
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return distance / 10
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def close(self) -> None:
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self.sensor.stop_ranging()
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self.sensor.close()
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