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SweepPy

Python Scanse Sweep LiDAR library. Work with Python2 and Python3.

Requires libsweep.so to be installed.

Installation

Install sweeppy module for Python3 locally:

python3 setup.py install --user

Example for testing

In the following, replace /dev/ttyUSB0 with your device's port name. This executes __main__.py (also works without the installation step).

python -m sweeppy /dev/ttyUSB0

Windows:

The installed sweep library architecture must match the python version. Ie: if you are using a x86 (32bit) version of python, you must install the x86 (32bit) verison of libsweep.

python.exe setup.py install --user

In the following: replace COM5 with your device's port name (check "Device Manager -> COM Ports").

python.exe -m sweeppy COM5

Quick Start

from sweeppy import Sweep

with Sweep('/dev/ttyUSB0') as sweep:
    sweep.start_scanning()

    for scan in sweep.get_scans():
        print('{}\n'.format(scan))

Note: Sweep objects need to be scoped using the with statement for resource management.

See sweeppy.py for interface and example for example usage.

Interface

class Sweep:
    def __init__(self, port, bitrate = None) -> Sweep

    def start_scanning(self) -> None
    def stop_scanning(self) -> None

    def get_motor_ready(self) -> bool
    def get_motor_speed(self) -> int (Hz)
    def set_motor_speed(self, speed) -> None

    def get_sample_rate(self) -> int (Hz)
    def set_sample_rate(self, speed) -> None

    def get_scans(self) -> Iterable[Scan]

    def reset(self) -> None

class Scan:
    self.samples -> Sample

class Sample:
    self.angle -> int
    self.distance -> int
    self.signal_strength -> int

License

Copyright © 2016 Daniel J. Hofmann

Distributed under the MIT License (MIT).