Python增加Tmini Plus示例文件

YDLIDAR · Jul 24, 2024 · 6200724 · 6200724
1 parent 6391d82
commit 6200724
Showing 1 changed file with 38 additions and 0 deletions.
diff --git a/python/examples/tminiplus_test.py b/python/examples/tminiplus_test.py
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+import os
+import ydlidar
+import time
+
+if __name__ == "__main__":
+    ydlidar.os_init();
+    ports = ydlidar.lidarPortList();
+    port = "/dev/ydlidar";
+    for key, value in ports.items():
+        port = value;
+        print(port);
+    laser = ydlidar.CYdLidar();
+    laser.setlidaropt(ydlidar.LidarPropSerialPort, port);
+    laser.setlidaropt(ydlidar.LidarPropSerialBaudrate, 230400);
+    laser.setlidaropt(ydlidar.LidarPropLidarType, ydlidar.TYPE_TRIANGLE);
+    laser.setlidaropt(ydlidar.LidarPropDeviceType, ydlidar.YDLIDAR_TYPE_SERIAL);
+    laser.setlidaropt(ydlidar.LidarPropScanFrequency, 10.0);
+    laser.setlidaropt(ydlidar.LidarPropSampleRate, 4);
+    laser.setlidaropt(ydlidar.LidarPropSingleChannel, False);
+    laser.setlidaropt(ydlidar.LidarPropMaxAngle, 180.0);
+    laser.setlidaropt(ydlidar.LidarPropMinAngle, -180.0);
+    laser.setlidaropt(ydlidar.LidarPropMaxRange, 16.0);
+    laser.setlidaropt(ydlidar.LidarPropMinRange, 0.02);
+    laser.setlidaropt(ydlidar.LidarPropIntenstiy, True);
+
+    ret = laser.initialize();
+    if ret:
+        ret = laser.turnOn();
+        scan = ydlidar.LaserScan();
+        while ret and ydlidar.os_isOk() :
+            r = laser.doProcessSimple(scan);
+            if r:
+                print("Scan received [", scan.points.size(), "] points");
+            else :
+                print("Failed to get lidar data")
+                time.sleep(0.05);
+        laser.turnOff();
+    laser.disconnecting();