check_sensor_in_range()
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check_sensor_in_range()
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Check if the current value of a continuous sensor is inside/outside a range.
Reference
Arguments
| Arguments | Type | Default value | |
|---|---|---|---|
| sensor_path | string | Path of the sensor to read, see the list of sensors. | |
| lower_bound | float | -inf | The lower bound against which the sensor value will be compared. |
| higher_bound | float | inf | The higher bound against which the sensor value will be compared. |
| inside_range | bool | True | Boolean representing return value when sensor is inside the range. |
| abs_val | bool | False | If true, take absolute value of sensor value before comparing it (lower and higher bound must be positive). |
Note that if abs_val is True, lower_bound or/and higher_bound must be positive to have effect.
Return
| Type | Description |
|---|---|
bool | True if the value of the sensor inside (inside_range=True) / outside (inside_range=False) the specified range. |
Exceptions
RayaSensorsInvalidPath
See the complete sensors exceptions.
Examples
Checking obstacle
Chek if there are any object behind the robot (using ultrasonic sensor number 2), less than 30 centimeters:
...
if self.sensors.check_sensor_in_range("/sonar/2", lower_bound=0.3):
self.log.info('Obstacle detected!')
else:
self.log.info('No obstacle')
...
Checking temperature
Chek if ambient temperature is not between 20 and 25 degrees.
...
if self.sensors.check_sensor_in_range("/temperature/ambient", lower_bound=20.0, higher_bound=25.0, inside_range=False):
self.log.info('Not good temperature!!')
...
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