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Changed return value for GP2D12 IR sensor from max_range to NaN when raw values are out of range

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This commit is contained in:
Patrick Goebel 2015-12-16 06:20:34 -08:00
parent 828984dd96
commit 3f98ea4df8
1 changed files with 5 additions and 4 deletions
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9
ros_arduino_python/src/ros_arduino_python/arduino_sensors.py
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@ -210,20 +210,21 @@ class GP2D12(IRSensor):
def read_value(self):
value = self.controller.analog_read(self.pin)
# The GP2D12 cannot provide a meaning result closer than 3 cm.
if value <= 3.0:
return self.msg.max_range
return float('NaN')
try:
distance = (6787.0 / (float(value) - 3.0)) - 4.0
except:
return self.msg.max_range
return float('NaN')
# Convert to meters
distance /= 100.0
# If we get a spurious reading, set it to the max_range
if distance > self.msg.max_range: distance = self.msg.max_range
if distance < self.msg.min_range: distance = self.msg.max_range
if distance > self.msg.max_range: distance = float('NaN')
if distance < self.msg.min_range: distance = float('NaN')
return distance