The routine of benewake tfmini-s / tfmimi plus / tfluna / tf02 Pro / tf03 radar on Python

test environment

Window 10, Python 3.8.6

requirements library

numpy pyserial

Routines 

#创建日期：2020年10月10日
#版本：初版
#此程序对应北醒TF系列默认配置下串口版本有效
#此程序只提供参考和学习

# -*- coding: utf-8 -*-
import serial.tools.list_ports
import time
import numpy as np

ser = serial.Serial()
ser.port = 'COM13'    #设置端口
ser.baudrate = 115200 #设置雷达的波特率

def getTFminiData():
   while True:
      count = ser.in_waiting #获取接收到的数据长度
      if count > 8:
         recv = ser.read(9)#读取数据并将数据存入recv
         #print('get data from serial port:', recv)
         ser.reset_input_buffer()#清除输入缓冲区
         if recv[0] == 0x59 and recv[1] == 0x59:  # python3
            distance = np.int16(recv[2] + np.int16(recv[3] << 8))
            strength = recv[4] + recv[5] * 256
            print('distance = %5d  strengh = %5d' % (distance, strength))
            ser.reset_input_buffer()

         if recv[0] == 'Y' and recv[1] == 'Y':  # python2 //此处标示出文件读取成功
            lowD = int(recv[2].encode('hex'), 16)
            highD = int(recv[3].encode('hex'), 16)
            lowS = int(recv[4].encode('hex'), 16)
            highS = int(recv[5].encode('hex'), 16)
            distance = np.int16(lowD + np.int16(highD << 8))
            strength = lowS + highS * 256
            print('distance = %5d  strengh = %5d' % (distance, strength))
      else:
         time.sleep(0.005) #50ms
if __name__ == '__main__':
   try:
      if ser.is_open == False:
         try:
            ser.open()
         except:
            print('Open COM failed!')
      getTFminiData()
   except KeyboardInterrupt:  # Ctrl+C
      if ser != None:
         ser.close()

output as follows: 

distance =    38  strengh =  8685
distance =    39  strengh =  8522
distance =    38  strengh =  8441
distance =    38  strengh =  8383
distance =    38  strengh =  8355
distance =    38  strengh =  8323
distance =    38  strengh =  8290
distance =    38  strengh =  8261
distance =    39  strengh =  8241
distance =    39  strengh =  8231
distance =    38  strengh =  8234

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