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Updated formula for computing distance for the Sharp GP2D12 IR range sensor

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This commit is contained in:
Patrick Goebel 2015-12-16 06:29:44 -08:00
parent 3f98ea4df8
commit 1289091111
1 changed files with 4 additions and 1 deletions
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5
ros_arduino_python/src/ros_arduino_python/arduino_sensors.py
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@ -22,6 +22,7 @@
import rospy import rospy
from sensor_msgs.msg import Range from sensor_msgs.msg import Range
from ros_arduino_msgs.msg import * from ros_arduino_msgs.msg import *
from math import pow
LOW = 0 LOW = 0
HIGH = 1 HIGH = 1
@ -210,12 +211,14 @@ class GP2D12(IRSensor):
def read_value(self): def read_value(self):
value = self.controller.analog_read(self.pin) value = self.controller.analog_read(self.pin)
# The GP2D12 cannot provide a meaning result closer than 3 cm. # The GP2D12 cannot provide a meaning result closer than 3 cm.
if value <= 3.0: if value <= 3.0:
return float('NaN') return float('NaN')
try: try:
distance = (6787.0 / (float(value) - 3.0)) - 4.0 distance = pow(4187.8 / value, 1.106)
#distance = (6787.0 / (float(value) - 3.0)) - 4.0
except: except:
return float('NaN') return float('NaN')