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Rousseau Vincent authoredf43ac1a0
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#!/usr/bin/env python
# Copyright 2018 Irstea
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import rospy
from std_msgs.msg import Float32
import ue9
class Labjack(object):
def __init__(self, channel, resolution=16, scan_freq=150):
self.channel_name = "AIN"+str(channel)
self.d = ue9.UE9()
self.d.getCalibrationData()
self.d.streamConfig(
NumChannels=1,
ChannelNumbers=[channel],
Resolution=resolution,
ScanFrequency=scan_freq)
if self.d is None:
return
self.d.streamStart()
# Anonymous topic ?
self.pub = rospy.Publisher('chatter', Float32, queue_size=10)
timer_period = 0.01 # in second
self.timer = rospy.Timer(rospy.Duration(timer_period), self.timer_callback)
rospy.spin()
self.d.streamStop()
self.d.close()
def timer_callback(self, event):
msg = Float32()
# Conversion in milli volt for gain 1
for data in self.d.streamData():
if data is not None:
msg.data = sum(data[self.channel_name])/len(data[self.channel_name])
rospy.loginfo('Publishing: "{0}"'.format(msg.data))
self.pub.publish(msg)
if __name__ == '__main__':
rospy.init_node('labjack', anonymous=True)
node = Labjack(1)