# Mic Array紀錄

上面的python都要改成python3
https://wiki.seeedstudio.com/cn/ReSpeaker_Mic_Array_v2.0/#_8
然後這網站很雷不要用

用這個
http://www.playrobot.com/robotpress/archives/5466
https://wiki.seeedstudio.com/ReSpeaker_Mic_Array_v2.0/

## 步驟

catkin_create_pkg doa rospy std_msgs //資料夾名稱不能大寫

然後把Reaspeaker的usb_4_mic_array程式下載下來

git clone https://github.com/respeaker/usb_4_mic_array.git

在~/catkin_ws/src/doa/src裡面創建一個doa.py

//append括弧裡面改成usb_4_mic_array那個資料夾的位置
import sys
sys.path.append('/home/ubuntu/catkin_ws/src/doa/src')
from tuning import Tuning
import rospy
import usb.core
import usb.util
import time
from std_msgs.msg import UInt16
dev = usb.core.find(idVendor=0x2886, idProduct=0x0018)
def sound_position():

    rospy.init_node('sound_position', anonymous=True)
    sound_position_puber = rospy.Publisher('/sound_position', UInt16,  queue_size=10)
    rate = rospy.Rate(10)
    while not rospy.is_shutdown():
        if dev:
            Mic_tuning = Tuning(dev)
            rospy.loginfo(Mic_tuning.direction)
            sound_position_puber.publish(Mic_tuning.direction)
            
            

if __name__ == '__main__':
    try:
        sound_position()
    except rospy.ROSInterruptException:
        pass

然後把檔案的權限改成可讀寫
如果用cmd可以

sudo chmod 777 doa.py

這樣rosrun doa doa.py應該就能跑了
螢幕會輸出目前的角度