LIDAR.h

00001 /*
00002  * LIDAR.h
00003  * Copyright (c) 2018, ZHAW
00004  * All rights reserved.
00005  */
00006 
00007 #ifndef LIDAR_H_
00008 #define LIDAR_H_
00009 
00010 #include <cstdlib>
00011 #include <mbed.h>
00012 
00013 /**
00014  * This is a device driver class for the Slamtec RP LIDAR A1.
00015  */
00016 class LIDAR {
00017     
00018     public:
00019         
00020                     LIDAR(RawSerial& serial);
00021         virtual     ~LIDAR();
00022         short       getDistance(short angle);
00023         short       getDistanceOfBeacon();
00024         short       getAngleOfBeacon();
00025         void        lookForBeacon();
00026         
00027     private:
00028         
00029         static const unsigned short HEADER_SIZE = 7;
00030         static const unsigned short DATA_SIZE = 5;
00031         
00032         static const char   START_FLAG = 0xA5;
00033         static const char   SCAN = 0x20;
00034         static const char   STOP = 0x25;
00035         static const char   RESET = 0x40;
00036         
00037         static const char   QUALITY_THRESHOLD = 10;
00038         static const short  DISTANCE_THRESHOLD = 10;
00039         static const short  DEFAULT_DISTANCE = 10000;
00040         static const short  MIN_DISTANCE = 500;
00041         static const short  MAX_DISTANCE = 2000;
00042         static const short  THRESHOLD = 500;
00043         static const short  WINDOW = 75;
00044         static const short  MIN_SIZE = 2;
00045         static const short  MAX_SIZE = 9;
00046         
00047         RawSerial&  serial;             // reference to serial interface for communication
00048         char        headerCounter;
00049         char        dataCounter;
00050         char        data[DATA_SIZE];
00051         short       distances[360];     // measured distance for every angle value, given in [mm]
00052         short       distanceOfBeacon;   // distance of detected beacon, given in [mm]
00053         short       angleOfBeacon;      // angle of detected beacon, given in [degrees]
00054         short       dist_copy[360];
00055         int         dist_diff_start[10];
00056         int         dist_diff_stop[10];       
00057         int         i;
00058         int         n;
00059         int         m;
00060         int         x;
00061         int         range;
00062         bool        changed;
00063         short       min;
00064         short       max;
00065         
00066         
00067         void        receive();
00068 };
00069 
00070 #endif /* LIDAR_H_ */
00071