grove_o2.py 文件源码

def poll(self):
        if self.pseudo:
            self.o2 = 19.3
            return
        if self.sensor_is_connected:
            try:
                self.serial.write(('adc read {}\r'.format(self.analog_port)).encode())
                response = self.serial.read(25)
                voltage = float(response[10:-3]) * 5 / 1024
                if voltage == 0:
                    return
                self.o2 = voltage * 0.21 / 2.0 * 100 # percent
                rospy.logdebug('o2 = {}'.format(self.o2))
            except:
                rospy.logwarn("O2 SENSOR> Failed to read value during poll")
                self.o2 = None
                self.sensor_is_connected = False
        else:
            self.connect()