mtaki91/pyurg

python program for using URG (HOKUYO) connected via USB

pyURG

python program to use URG sensor (HOKUYO) which is connected through USB

How to install

install python-serial

sudo pip install python-serial

How to use

Import

from pyURG import serial_URG
URG1 = serial_URG("/dev/ttyACM0", 900000)

Init timestamp (Optional)

matching timestamp precisely

URG1.init_timestamp2()

Simple one

URG1.init_timestamp()

Single capture

xyz_GDGS, tm_GDGS = URG1.capture_GDGS(byte=3)

xyz_GDGS[n]: xyz value of a point. (z=0)
tm_GDGS[n] : the time when xyz_GDGS[n] is captured.

Multiple capture

xyz_MDMS, tm_MDMS = URG1.capture_MDMS(byte=3, interval = 4, num_scans = 10)

m: scan
n: step
xyz_MDMS[m][n]: xyz value of a point. (z=0)
tm_MDMS[m][n] : the time when xyz_MDMS[m][n] is captured.

Setting

MODE = 1
URG1.change_measure_mode(MODE)

MODE: 0 -> Normal sensitive mode
MODE: 1 -> High sensitive mode

---

SPEED_PARAM = 10
URG1.adjust_motor_speed(SPEED_PARAM)

SPEED_PARAM: 0 -> Default speed
SPEED_PARAM: 1 to 10 -> Changes speed to different levels
SPEED_PARAM: 99 -> Reset to initial speed