owl.instruments.MultiLidar

class owl.instruments.MultiLidar(*, serial_number: str = None, device_addresses: int | Iterable[int] | None = None, open_device=True, **kwargs)

Bases: object

Open a Ramona Optics Multi-Lidar ranging system.

Example

>>> from owl.instruments import MultiLidar
>>> lidar = MultiLidar()
>>> print(lidar.distance)

Parameters:

• serial_number (str) – Serial_number of microcontroller. If not provided, auto-detection of the microcontroller will be attempted.

• device_addresses (int or List[int]) – For devices shipped with Ramona Optics products, this should be left as None. Device addresses of Lidar units. 8-bit addresses are assumed. One address can be provided as a single integer. Multiple addresses can be provided as a list.

• open_device (bool) –

  If True, the last operation of the constructor will be to call the open method to ensure the device is ready for reading.

  Added in version 0.18.11: The open_device parameter.

property distance: list[float]

The distance as read from the sensor in meters.

This returns a list of floating point values corresponding to the reading from each lidar sensor.

property lidar_count

The number of lidar sensors connected to the module.

Added in version 0.18.11.

open(*) → None

Open the device for communication

See also

MultiLidar, close

close() → None

Close the device for communication

See also

MultiLidar, open,

property temperature_C: list[float]

The temperature of the device in degrees Celsius.

Multiple values are returned as a list, one value for each Lidar unit.

property soc_temperature_C: list[float]

The temperature of the system on a chip (SOC) in Celsius.

property hardware_version: list[int]

Hardware Version.

We expect to see Version 16.

property coprocessor_firmware_version: list[int]

Copressor firmware version.

We expect to see Version 210.