TFmini(Micro LiDAR Module) library tested on mbedos5.x
Dependents: 2018NHK_gakugaku_robo 2018NHK_gaku_ver2 2019NHK_A_sensor
Diff: TFmini.h
- Revision:
- 6:3651a37efd0e
- Parent:
- 5:eeb0e5bdd8b9
- Child:
- 7:81f9d1372c45
diff -r eeb0e5bdd8b9 -r 3651a37efd0e TFmini.h --- a/TFmini.h Wed Aug 29 09:19:56 2018 +0000 +++ b/TFmini.h Sat Oct 06 05:01:42 2018 +0000 @@ -1,42 +1,39 @@ #ifndef TFMINI_H #define TFMINI_H -/** - * Includes - */ #include "mbed.h" -#include <vector> -/** - * Defines - */ #define TF_SERIAL_BUFFER_SIZE 9 #define TF_HEADER_FIRST_BYTE 0x59 #define TF_HEADER_SECOND_BYTE 0x59 +#define TF_RECEIVE_FREQ 0.01 #define TF_DEFAULT_BAUD 115200 -/** - * TFmini(LiDAR snsor)\\ - * sample code is here https://os.mbed.com/teams/NHK-Robocon2016_Nagaoka_B_Team/code/TFmini_sample/ - */ class TFmini : public RawSerial { public : TFmini(PinName serialTX, PinName serialRX); int getDistance(); int getStrength(); - int getSize(); private : - void receiveByte(); - void assembleLoop(); + void readData(); void assemble(); - Thread thread; - std::vector<unsigned char> buf; + int incrementCounter(int counter); + + int readCounter; + int takeCounter; + Ticker assembleTicker; int distance; int strength; + + uint8_t *buffer; + uint8_t *data; + + bool headerCheck; + int headerPoint; }; #endif