Added 2016-2017 rover code, and a ROB assignment

OSU Robotics Club/Mars Rover 2016-2017/common/soil-sensor-test.py

@@ -0,0 +1,100 @@
+#!/usr/bin/env python
+import sys
+import math
+import struct
+import serial
+import signal
+import os
+import time
+import struct 
+
+SerialPath="/dev/ttyUSB0"
+
+class SoilSensor():
+	def __init__(self, path):
+		self.path = path
+		self.__tty = serial.Serial(port=self.path,
+		                           baudrate=9600,
+	                               parity=serial.PARITY_NONE,
+	                               stopbits=serial.STOPBITS_ONE,
+	                               bytesize=serial.EIGHTBITS,
+	                               timeout=0.2)
+	def set_mode_rx(self):
+		"""Set the transceiver to receive mode."""
+		#Set DTR for receive mode, clear for transmit
+		self.__tty.setDTR(True)
+		
+	def set_mode_tx(self):
+		"""Set the transceiver to transmit mode."""
+		self.__tty.setDTR(False)
+		
+	def send_command(self, addr_str, command_str):
+		"""Send a command to the soil sensor."""
+		self.set_mode_tx()
+		time.sleep(.04)
+		self.__tty.write(addr_str + command_str + "\r")
+		self.__tty.flush()
+		time.sleep(.05)
+		self.__tty.write("\n")
+		time.sleep(.005)
+		self.set_mode_rx()
+		reply = self.__tty.read(size=10000000)
+		return reply
+	
+	def set_data(self, addr_str, command_str, data_str):
+		"""Set data in the soil sensor."""
+		self.set_mode_tx()
+		time.sleep(.04)
+		self.__tty.write(addr_str + command_str + "=" + data_str + "\r\n")
+		self.__tty.flush()
+		time.sleep(.05)
+		self.__tty.write("\n")
+		time.sleep(.005)
+		self.set_mode_rx()
+		reply = self.__tty.read(size=10000000)
+		return reply
+		
+	def get_data(self, addr_str, command_str):
+		"""Get data from the sensor, returning the data.
+		   command_str is the two-character string."""
+		self.set_mode_tx()
+		time.sleep(.04)
+		self.__tty.write(addr_str + command_str + "=?" + "\r")
+		self.__tty.flush()
+		time.sleep(.05)
+		self.__tty.write("\n")
+		time.sleep(.005)
+		self.set_mode_rx()
+		reply = self.__tty.read(size=10000000)
+		return reply
+	
+	def get_measurement(self, addr_str):
+		Moisture = float(data[2])
+		Cond = float(data[4])
+		"""Take and return a soil measurement."""
+		addr = addr_str
+		self.send_command(addr, "TR")
+		time.sleep(1)
+		data = self.send_command(addr, "T3")
+		print data
+		data = data[3:]
+		data = data.split(",")
+		print "Raw Values (reading set 3):", data
+		TempC = float(data[0])
+		PermR = float(data[6])
+		PermI = float(data[8])
+		Salinity = Cond * 6.4
+		return {"TempC":TempC, "Moisture":Moisture, "Salinity":Salinity}
+def main():
+	s = SoilSensor(SerialPath)
+	addr = s.get_data("///", "SN")[0:3]
+	s.set_data(addr, "PE", "1")
+	time.sleep(1)
+	while True:
+		print s.get_measurement(addr)
+		print ""
+		time.sleep(10)
+		
+	
+if __name__ == "__main__":
+	main()