ALLaser Tutorial

NAOqi Sensors & LEDs - Overview | API | Tutorial

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Introduction

This tutorial explains how to use the ALLaser module from Python script.

setDetectingLength

allaser_setdetectinglength.py

#! /usr/bin/env python
# -*- encoding: UTF-8 -*-

"""Example: Use setDetectingLength Method"""

import qi
import argparse
import sys


def main(session):
    """
    This example uses the setDetectingLength method.
    """
    # Get the service ALLaser.

    laser_service = session.service("ALLaser")

    # Set detection threshold at 500/3000 mm
    laser_service.setDetectingLength(500,3000)

    print "Set detection threshold at 500/3000 mm"


if __name__ == "__main__":
    parser = argparse.ArgumentParser()
    parser.add_argument("--ip", type=str, default="127.0.0.1",
                        help="Robot IP address. On robot or Local Naoqi: use '127.0.0.1'.")
    parser.add_argument("--port", type=int, default=9559,
                        help="Naoqi port number")

    args = parser.parse_args()
    session = qi.Session()
    try:
        session.connect("tcp://" + args.ip + ":" + str(args.port))
    except RuntimeError:
        print ("Can't connect to Naoqi at ip \"" + args.ip + "\" on port " + str(args.port) +".\n"
               "Please check your script arguments. Run with -h option for help.")
        sys.exit(1)
    main(session)

setOpeningAngle

allaser_setopeningangle.py

#! /usr/bin/env python
# -*- encoding: UTF-8 -*-

"""Example: Use setOpeningAngle Method"""

import qi
import argparse
import sys


def main(session):
    """
    This example uses the setOpeningAngle method.
    """
    # Get the service ALLaser.

    laser_service = session.service("ALLaser")

    # Set the opening angle at -90/90 degres
    laser_service.setOpeningAngle(-1.570796327,1.570796327)

    print "Opening angle set at -90/90 degrees"


if __name__ == "__main__":
    parser = argparse.ArgumentParser()
    parser.add_argument("--ip", type=str, default="127.0.0.1",
                        help="Robot IP address. On robot or Local Naoqi: use '127.0.0.1'.")
    parser.add_argument("--port", type=int, default=9559,
                        help="Naoqi port number")

    args = parser.parse_args()
    session = qi.Session()
    try:
        session.connect("tcp://" + args.ip + ":" + str(args.port))
    except RuntimeError:
        print ("Can't connect to Naoqi at ip \"" + args.ip + "\" on port " + str(args.port) +".\n"
               "Please check your script arguments. Run with -h option for help.")
        sys.exit(1)
    main(session)