tf_luna_i2c.py

#!/usr/bin/env python
from time import time
from time import sleep
import numpy as np
from smbus2 import SMBus, i2c_msg

class lidarHardwareUtils:
    def __init__(self):

        #address of LiDAR attachment
        self.address = 0x10
        self.distances = [0.0]*1

    #get buffer or list of distance data for 180 degrees
    def get_lidar_data_buffer(self):

        for i in range(len(self.distances)):
            #read lidar
            self.distances[i] = self.read_lidar_data()
            degree = float(i)
        print(self.distances)
    def read_lidar_data(self):

        #need first 8 bytes as bytes 2,3 (from 0) have distance info
        bytesRead = 11
        #read in with smbus then close bus
        bus = SMBus(1)
        distL = bus.read_byte_data(self.address, 0x00)
        distH = bus.read_byte_data(self.address, 0x01)

        #check first two bytes to ensure correct data is coming in
        #distance value low in first byte, distance value high in second
        #divide by 100 to get into m (from cm)
        lidarDist = (distL + 256*distH)
        #close bus once all data received
        bus.close()
        #convert to m
        return float(lidarDist)/100

if __name__ == "__main__":

    l = lidarHardwareUtils()
    #l.test_lidar_data()
    l.get_lidar_data_buffer()