ROME2 / Mbed 2 deprecated ROME2_P5

ROME_P5

Dependencies:   mbed

LIDAR.h@0:29be10cb0afc, 2018-04-27 (annotated)

Committer:
Inaueadr
Date:
Fri Apr 27 08:47:34 2018 +0000
Revision:
0:29be10cb0afc
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Inaueadr 0:29be10cb0afc 1 /*
Inaueadr 0:29be10cb0afc 2 * LIDAR.h
Inaueadr 0:29be10cb0afc 3 * Copyright (c) 2018, ZHAW
Inaueadr 0:29be10cb0afc 4 * All rights reserved.
Inaueadr 0:29be10cb0afc 5 */
Inaueadr 0:29be10cb0afc 6
Inaueadr 0:29be10cb0afc 7 #ifndef LIDAR_H_
Inaueadr 0:29be10cb0afc 8 #define LIDAR_H_
Inaueadr 0:29be10cb0afc 9
Inaueadr 0:29be10cb0afc 10 #include <cstdlib>
Inaueadr 0:29be10cb0afc 11 #include <mbed.h>
Inaueadr 0:29be10cb0afc 12
Inaueadr 0:29be10cb0afc 13 /**
Inaueadr 0:29be10cb0afc 14 * This is a device driver class for the Slamtec RP LIDAR A1.
Inaueadr 0:29be10cb0afc 15 */
Inaueadr 0:29be10cb0afc 16 class LIDAR {
Inaueadr 0:29be10cb0afc 17
Inaueadr 0:29be10cb0afc 18 public:
Inaueadr 0:29be10cb0afc 19
Inaueadr 0:29be10cb0afc 20 LIDAR(RawSerial& serial);
Inaueadr 0:29be10cb0afc 21 virtual ~LIDAR();
Inaueadr 0:29be10cb0afc 22 short getDistance(short angle);
Inaueadr 0:29be10cb0afc 23 short getDistanceOfBeacon();
Inaueadr 0:29be10cb0afc 24 short getAngleOfBeacon();
Inaueadr 0:29be10cb0afc 25 void lookForBeacon();
Inaueadr 0:29be10cb0afc 26
Inaueadr 0:29be10cb0afc 27 private:
Inaueadr 0:29be10cb0afc 28
Inaueadr 0:29be10cb0afc 29 static const unsigned short HEADER_SIZE = 7;
Inaueadr 0:29be10cb0afc 30 static const unsigned short DATA_SIZE = 5;
Inaueadr 0:29be10cb0afc 31
Inaueadr 0:29be10cb0afc 32 static const char START_FLAG = 0xA5;
Inaueadr 0:29be10cb0afc 33 static const char SCAN = 0x20;
Inaueadr 0:29be10cb0afc 34 static const char STOP = 0x25;
Inaueadr 0:29be10cb0afc 35 static const char RESET = 0x40;
Inaueadr 0:29be10cb0afc 36
Inaueadr 0:29be10cb0afc 37 static const char QUALITY_THRESHOLD = 10;
Inaueadr 0:29be10cb0afc 38 static const short DISTANCE_THRESHOLD = 10;
Inaueadr 0:29be10cb0afc 39 static const short DEFAULT_DISTANCE = 10000;
Inaueadr 0:29be10cb0afc 40 static const short MIN_DISTANCE = 500;
Inaueadr 0:29be10cb0afc 41 static const short MAX_DISTANCE = 2000;
Inaueadr 0:29be10cb0afc 42 static const short THRESHOLD = 500;
Inaueadr 0:29be10cb0afc 43 static const short WINDOW = 75;
Inaueadr 0:29be10cb0afc 44 static const short MIN_SIZE = 2;
Inaueadr 0:29be10cb0afc 45 static const short MAX_SIZE = 9;
Inaueadr 0:29be10cb0afc 46
Inaueadr 0:29be10cb0afc 47 RawSerial& serial; // reference to serial interface for communication
Inaueadr 0:29be10cb0afc 48 char headerCounter;
Inaueadr 0:29be10cb0afc 49 char dataCounter;
Inaueadr 0:29be10cb0afc 50 char data[DATA_SIZE];
Inaueadr 0:29be10cb0afc 51 short distances[360]; // measured distance for every angle value, given in [mm]
Inaueadr 0:29be10cb0afc 52 short distanceOfBeacon; // distance of detected beacon, given in [mm]
Inaueadr 0:29be10cb0afc 53 short angleOfBeacon; // angle of detected beacon, given in [degrees]
Inaueadr 0:29be10cb0afc 54 short dist_copy[360];
Inaueadr 0:29be10cb0afc 55 int dist_diff_start[10];
Inaueadr 0:29be10cb0afc 56 int dist_diff_stop[10];
Inaueadr 0:29be10cb0afc 57 int i;
Inaueadr 0:29be10cb0afc 58 int n;
Inaueadr 0:29be10cb0afc 59 int m;
Inaueadr 0:29be10cb0afc 60 int x;
Inaueadr 0:29be10cb0afc 61 int range;
Inaueadr 0:29be10cb0afc 62 bool changed;
Inaueadr 0:29be10cb0afc 63 short min;
Inaueadr 0:29be10cb0afc 64 short max;
Inaueadr 0:29be10cb0afc 65
Inaueadr 0:29be10cb0afc 66
Inaueadr 0:29be10cb0afc 67 void receive();
Inaueadr 0:29be10cb0afc 68 };
Inaueadr 0:29be10cb0afc 69
Inaueadr 0:29be10cb0afc 70 #endif /* LIDAR_H_ */
Inaueadr 0:29be10cb0afc 71