batbot_bringup.sonar package
Submodules
batbot_bringup.sonar.bb_emitter module
- class batbot_bringup.sonar.bb_emitter.ECHO_SERIAL_CMD(*values)
Bases:
Enum- ACK = 4
- ACK_REQ = 3
- CHIRP_DATA = 2
- CHIRP_DATA_TOO_LONG = 6
- CLEAR_SERIAL = 10
- EMIT_CHIRP = 1
- ERROR = 100
- GET_MAX_UINT16_CHIRP_LEN = 7
- NONE = 0
- START_AMP = 8
- STOP_AMP = 9
- class batbot_bringup.sonar.bb_emitter.EchoEmitter(serial_obj: ~serial.serialposix.Serial = Serial<id=0x7fdabe614a00, open=False>(port=None, baudrate=9600, bytesize=8, parity='N', stopbits=1, timeout=None, xonxoff=False, rtscts=False, dsrdtr=False), output_freq: int = 1000000.0)
Bases:
object- chirp() bool
- connect_Serial(serial: Serial)
- connection_status(print_: bool = False) bool
- convert_and_range_data(data: ndarray, gain: float = None, offset: float = None) uint16
- disconnect_serial()
- gen_chirp(f_start: int, f_end: int, t_end: int, method: str = 'linear', gain: float = None, offset=None) tuple[uint16, ndarray]
- gen_sine(time_ms: uint16, freq: uint16, gain: float = None, offset=None) tuple[uint16, ndarray]
- get_and_convert_numpy(file_name: str, gain: float = None, offset=None) uint16
- get_cmd() ECHO_SERIAL_CMD
- get_max_chirp_uint16_length() uint16
- save_chirp_info(file_path: str) bool
- upload_chirp(data: uint16 = None) bool
- write_cmd(cmd: ECHO_SERIAL_CMD)
- class batbot_bringup.sonar.bb_emitter.LAST_CHIRP_DATA(*values)
Bases:
Enum- CUSTOM = 1
- FILE = 0
- NONE = 3
- batbot_bringup.sonar.bb_emitter.hide_cursor()
- batbot_bringup.sonar.bb_emitter.show_cursor()
batbot_bringup.sonar.bb_listener module
Reads ADC values from the Teensy
- class batbot_bringup.sonar.bb_listener.EchoRecorder(serial_obj: ~serial.serialposix.Serial = Serial<id=0x7fdabe147d00, open=False>(port=None, baudrate=9600, bytesize=8, parity='N', stopbits=1, timeout=None, xonxoff=False, rtscts=False, dsrdtr=False), channel_burst_len: ~numpy.uint16 = 1000, left_channel_first=True, sample_freq: int = 1000000.0)
Bases:
object- check_status() bool
- connect_Serial(serial: Serial)
- connection_status(print_: bool = False) bool
- disconnect_serial()
- get_cmd() LISTENER_SERIAL_CMD
- listen(listen_time_ms: uint16) tuple[uint16, uint16, uint16]
- Reads bytes from Teensy for given amount of listen time. This listen time
is calculated into number of bytes so deviation of time is not an issue. The raw_data is interleaved between left and right ear for ease of demodulating at the end.
- Args:
listen_time_ms (np.uint16): time to listen for in ms
- Returns:
tuple[np.uint16,np.uint16,np.uint16]: raw_data, left_ear, right_ear
- write_cmd(cmd: LISTENER_SERIAL_CMD) None