1
2
3
4 from RobotInstance import RobotInstance
5 from Tools import Tools
6
8 '''
9 Class that represents an ultrasonic sensor.
10 '''
11
13 '''
14 Creates a ultrasonic sensor.
15 '''
16 self.device = "uss"
17 self.sensorState = "FAR"
18 self.sensorType = "UltrasonicSensor"
19 self.triggerLevel = 20.0
20 self.nearCallback = None
21 self.farCallback = None
22 for key in kwargs:
23 if key == "near":
24 self.nearCallback = kwargs[key]
25 elif key == "far":
26 self.farCallback = kwargs[key]
27 robot = RobotInstance.getRobot()
28 if robot == None:
29 RobotInstance._partsToRegister.append(self)
30 else:
31 self._setup(robot)
32
34 robot.sendCommand("uss.create")
35 if self.nearCallback != None or self.farCallback != None:
36 robot.registerSensor(self)
37
45
47 return self.triggerLevel
48
50 self.triggerLevel = level
51
53 return self.sensorState
54
56 self.sensorState = state
57
59 return self.sensorType
60
62 if self.nearCallback != None:
63 self.nearCallback(v)
64
66 if self.farCallback != None:
67 self.farCallback(v)
68
72