with the tof code
Dependencies: mbed Servo ros_lib_kinetic
main.cpp
- Committer:
- Stumi
- Date:
- 2019-11-12
- Revision:
- 5:bc5081f0c063
- Parent:
- 4:36a04230554d
- Child:
- 6:2cc2aac35868
File content as of revision 5:bc5081f0c063:
/*-------------------------------------------------------------------------------- Filename: main.cpp Description: Main program loop --------------------------------------------------------------------------------*/ #include "mbed.h" #include "TOF.h" #include "Motor.h" #include "power.h" #include "LED.h" Serial pc(SERIAL_TX, SERIAL_RX, 9600); // set-up serial to pc //TOF chip shutdown signals DigitalOut TOF1(PC_8); DigitalOut TOF4(PC_11); DigitalOut TOF6(PC_12); DigitalOut TOF7(PD_2); //Class define cAdafruit_VL6180X VL6180X(TOF1,TOF4,TOF6,TOF7); //Define TOF sensor class and initialise devices cPower cPower(VBATT, V5, V3); cRBG_LED cRBG_LED(DIAG_RED, DIAG_BLU, DIAG_GRN); int main() { uint8_t TOFRange[4]; //Array to store TOF measurements 0-sensor1, 1-sensor4, 2-sensor6, 3-sensor7 float power_levels[3]; //Array to voltage levels while(1){ //Perform TOF measurements TOFRange[0] = serviceTOF(VL6180X, ADDR1); TOFRange[1] = serviceTOF(VL6180X, ADDR4); TOFRange[2] = serviceTOF(VL6180X, ADDR6); TOFRange[3] = serviceTOF(VL6180X, ADDR7); Check_for_obstacles(TOFRange); //Send range to pc by serial //pc.printf("TOF1:%d TOF3: %d TOF5: %d TOF7: %d\r\n", TOFRange[0], TOFRange[1], TOFRange[2],TOFRange[3]); power_levels[0] = cPower.monitor_battery(); power_levels[1] = cPower.monitor_5v_line(); power_levels[2] = cPower.monitor_3v3_line(); printf("BATT:%4.2f, 5V:%4.2f, 3v3:%4.2f\n\r", power_levels[0], power_levels[1], power_levels[2]); cRBG_LED.yellow_led(); } }