3.10. Infrared Distance Sensor

ir_distance_sensor_ctrl.enable_measure(port_id)
Description:Enables the ranging function of the infrared distance sensor
参数:port_id (int) – The module number of the infrared distance sensor, whose range is [1:4]
返回:None
Example:ir_distance_sensor_ctrl.enable_measure(1)
Example description:
 Enable the ranging function of infrared distance sensor 1
ir_distance_sensor_ctrl.disable_measure(port_id)
Description:Disables the ranging function of the infrared distance sensor
参数:port_id (int) – The module number of the infrared distance sensor, whose range is [1:4]
返回:None
Example:ir_distance_sensor_ctrl.disable_measure(1)
Example description:
 Disable the ranging function of infrared distance sensor 1
ir_distance_sensor_ctrl.get_distance_info(port_id)
Description:Obtains the ranging information of the infrared distance sensor
参数:port_id (int) – The module number of the infrared distance sensor, whose range is [1:4]
返回:The distance to the obstacle in front of the infrared distance sensor, with an accuracy of 1 cm
返回类型:uint16
Example:ir_distance_sensor_ctrl.get_distance_info(1)
Example description:
 Obtain the ranging information of infrared distance sensor 1
def ir_distance_[port_id]_[compare_type]_[dist]_event(msg):
Description:

When the distance to the obstacle in front of the infrared distance sensor is judged to satisfy the relevant conditions, run the program in the function

参数:
  • port_id (int) – The module number of the infrared distance sensor, whose range is [1:4]
  • compare_type – The comparison type, which can be eq (equal), ge (greater than or equal to), gt (greater than), le (less than or equal to), or lt (less than).
  • dist – The distance used for comparison, with an accuracy of 1 cm, range of 5-500 cm, and error rate of 5%
返回:

None

Example:
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#When the distance to the obstacle in front of the infrared distance sensor is judged to satisfy the relevant conditions, run the program in the function

def ir_distance_1_lt_10_event(msg):
    pass
ir_distance_sensor_ctrl.cond_wait('ir_distance_[port_id]_[compare_type]_[dist]')
Description:

When the distance to the obstacle in front of the waiting infrared distance sensor is judged to satisfy the relevant conditions, execute the next instruction

参数:
  • 'ir_distance_[port_id]_[compare_type]_[dist]' – The string used for distance comparison, which includes the module number, comparison type, and distance
  • port_id (int) – The module number of the infrared distance sensor, whose range is [1:4]
  • compare_type – The comparison type, which can be eq (equal), ge (greater than or equal to), gt (greater than), le (less than or equal to), or lt (less than).
  • dist – The distance used for comparison, with an accuracy of 1 cm, range of 5-500 cm, and error rate of 5%
返回:

None

Example:

ir_distance_sensor_ctrl.cond_wait('ir_distance_1_gt_50')

Example description:
 

If the distance to the obstacle in front of infrared distance sensor 1 is greater than 50 cm, execute the next instruction

ir_distance_sensor_ctrl.check_condition('ir_distance_[port_id]_[compare_type]_[dist]')
Description:

Determines whether the distance to the obstacle in front of the infrared distance sensor meets the relevant conditions

参数:
  • 'ir_distance_[port_id]_[compare_type]_[dist]' – The string used for distance comparison, which includes the module number, comparison type, and distance
  • port_id (int) – The module number of the infrared distance sensor, whose range is [1:4]
  • compare_type – The comparison type, which can be eq (equal), ge (greater than or equal to), gt (greater than), le (less than or equal to), or lt (less than).
  • dist – The distance used for comparison, with an accuracy of 1 cm, range of 5-500 cm, and error rate of 5%
返回:

Whether the relevant conditions are satisfied. If yes, true is returned. If no, false is returned.

返回类型:

bool

Example:
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#When the distance to the obstacle in front of the infrared distance sensor is judged to satisfy the relevant conditions, run the program in the function

if ir_distance_sensor_ctrl.check_condition('ir_distance_1_gt_50'):
    pass

提示

For the description of the module, refer to Infrared Distance Sensor.