58 lines
No EOL
1.7 KiB
Python
58 lines
No EOL
1.7 KiB
Python
from compLib.LogstashLogging import Logging
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from compLib.MetricsLogging import MetricsLogging
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from compLib.Spi import Spi, Register
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SENSOR_COUNT = 5
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class IRSensor(object):
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"""Access the different IR Sensors of the robot
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"""
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@staticmethod
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def read(sensor: int) -> int:
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"""Read one infrared sensor
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:param sensor: Which sensor to read. Between 1 and 5
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:raises: IndexError
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:return: Sensor value. 10 bit accuracy
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:rtype: int
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"""
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if sensor <= 0 or sensor > SENSOR_COUNT:
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raise IndexError("Invalid sensor specified!")
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result = 0
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if sensor == 1:
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result = Spi.read(Register.IR_1_H, 2)
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elif sensor == 2:
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esult = Spi.read(Register.IR_2_H, 2)
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elif sensor == 3:
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esult = Spi.read(Register.IR_3_H, 2)
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elif sensor == 4:
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esult = Spi.read(Register.IR_4_H, 2)
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elif sensor == 5:
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esult = Spi.read(Register.IR_5_H, 2)
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MetricsLogging.put("Infrared", result, sensor)
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return result
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@staticmethod
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def set(sensor: int, on: bool):
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"""Turn on / off a IR emitter
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:param sensor: Which sensor to read. Between 1 and 5
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:raises: IndexError
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"""
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if sensor <= 0 or sensor > SENSOR_COUNT:
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raise IndexError("Invalid sensor specified!")
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if sensor == 1:
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Spi.write(Register.IR_1_LED, 1, on)
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elif sensor == 2:
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Spi.write(Register.IR_2_LED, 1, on)
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elif sensor == 3:
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Spi.write(Register.IR_3_LED, 1, on)
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elif sensor == 4:
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Spi.write(Register.IR_4_LED, 1, on)
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elif sensor == 5:
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Spi.write(Register.IR_5_LED, 1, on) |