增加乐动模块IRObstacle 驱动

Author: lijutsang

port/boards/mpython/modules/mpython.py

@@ -1391,3 +1391,26 @@ def numberMap(inputNum, bMin, bMax, cMin, cMax):
     outputNum = 0
     outputNum = ((cMax - cMin) / (bMax - bMin)) * (inputNum - bMin) + cMin
     return outputNum
+
+
+class IRObstacle():
+    def __init__(self, pin):
+        '''初始化参数，引脚'''
+        self.pin = MPythonPin(pin, PinMode.ANALOG)
+        self.threshold = 1500 #默认阈值
+
+    def detect(self):
+        '''是否探测到，布尔类型True/False'''
+        tmp = self.pin.read_analog()
+        if(tmp<=self.threshold):
+            return True
+        else:
+            return False
+
+    def get_raw_val(self):
+        '''获取红外探测传感器裸数据，模拟值'''
+        return self.pin.read_analog()
+
+    def set_threshold(self, threshold):
+        '''设置红外探测传感器阈值，模拟值'''
+        self.threshold = threshold