Nim leo niiiim
LIDAR.h@0:da791f233257, 2018-05-11 (annotated)
- Committer:
- Kiwicjam
- Date:
- Fri May 11 12:21:19 2018 +0000
- Revision:
- 0:da791f233257
start of rome2 p5;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Kiwicjam | 0:da791f233257 | 1 | /* |
Kiwicjam | 0:da791f233257 | 2 | * LIDAR.h |
Kiwicjam | 0:da791f233257 | 3 | * Copyright (c) 2018, ZHAW |
Kiwicjam | 0:da791f233257 | 4 | * All rights reserved. |
Kiwicjam | 0:da791f233257 | 5 | */ |
Kiwicjam | 0:da791f233257 | 6 | |
Kiwicjam | 0:da791f233257 | 7 | #ifndef LIDAR_H_ |
Kiwicjam | 0:da791f233257 | 8 | #define LIDAR_H_ |
Kiwicjam | 0:da791f233257 | 9 | |
Kiwicjam | 0:da791f233257 | 10 | #include <cstdlib> |
Kiwicjam | 0:da791f233257 | 11 | #include <mbed.h> |
Kiwicjam | 0:da791f233257 | 12 | |
Kiwicjam | 0:da791f233257 | 13 | /** |
Kiwicjam | 0:da791f233257 | 14 | * This is a device driver class for the Slamtec RP LIDAR A1. |
Kiwicjam | 0:da791f233257 | 15 | */ |
Kiwicjam | 0:da791f233257 | 16 | class LIDAR { |
Kiwicjam | 0:da791f233257 | 17 | |
Kiwicjam | 0:da791f233257 | 18 | public: |
Kiwicjam | 0:da791f233257 | 19 | |
Kiwicjam | 0:da791f233257 | 20 | LIDAR(RawSerial& serial); |
Kiwicjam | 0:da791f233257 | 21 | virtual ~LIDAR(); |
Kiwicjam | 0:da791f233257 | 22 | short getDistance(short angle); |
Kiwicjam | 0:da791f233257 | 23 | short getDistanceOfBeacon(); |
Kiwicjam | 0:da791f233257 | 24 | short getAngleOfBeacon(); |
Kiwicjam | 0:da791f233257 | 25 | void lookForBeacon(); |
Kiwicjam | 0:da791f233257 | 26 | |
Kiwicjam | 0:da791f233257 | 27 | private: |
Kiwicjam | 0:da791f233257 | 28 | |
Kiwicjam | 0:da791f233257 | 29 | static const unsigned short HEADER_SIZE = 7; |
Kiwicjam | 0:da791f233257 | 30 | static const unsigned short DATA_SIZE = 5; |
Kiwicjam | 0:da791f233257 | 31 | |
Kiwicjam | 0:da791f233257 | 32 | static const char START_FLAG = 0xA5; |
Kiwicjam | 0:da791f233257 | 33 | static const char SCAN = 0x20; |
Kiwicjam | 0:da791f233257 | 34 | static const char STOP = 0x25; |
Kiwicjam | 0:da791f233257 | 35 | static const char RESET = 0x40; |
Kiwicjam | 0:da791f233257 | 36 | |
Kiwicjam | 0:da791f233257 | 37 | static const char QUALITY_THRESHOLD = 10; |
Kiwicjam | 0:da791f233257 | 38 | static const short DISTANCE_THRESHOLD = 10; |
Kiwicjam | 0:da791f233257 | 39 | static const short DEFAULT_DISTANCE = 10000; |
Kiwicjam | 0:da791f233257 | 40 | static const short MIN_DISTANCE = 500; |
Kiwicjam | 0:da791f233257 | 41 | static const short MAX_DISTANCE = 2000; |
Kiwicjam | 0:da791f233257 | 42 | static const short THRESHOLD = 500; |
Kiwicjam | 0:da791f233257 | 43 | static const short WINDOW = 75; |
Kiwicjam | 0:da791f233257 | 44 | static const short MIN_SIZE = 2; |
Kiwicjam | 0:da791f233257 | 45 | static const short MAX_SIZE = 9; |
Kiwicjam | 0:da791f233257 | 46 | |
Kiwicjam | 0:da791f233257 | 47 | RawSerial& serial; // reference to serial interface for communication |
Kiwicjam | 0:da791f233257 | 48 | char headerCounter; |
Kiwicjam | 0:da791f233257 | 49 | char dataCounter; |
Kiwicjam | 0:da791f233257 | 50 | char data[DATA_SIZE]; |
Kiwicjam | 0:da791f233257 | 51 | short distances[360]; // measured distance for every angle value, given in [mm] |
Kiwicjam | 0:da791f233257 | 52 | short distanceOfBeacon; // distance of detected beacon, given in [mm] |
Kiwicjam | 0:da791f233257 | 53 | short angleOfBeacon; // angle of detected beacon, given in [degrees] |
Kiwicjam | 0:da791f233257 | 54 | |
Kiwicjam | 0:da791f233257 | 55 | void receive(); |
Kiwicjam | 0:da791f233257 | 56 | }; |
Kiwicjam | 0:da791f233257 | 57 | |
Kiwicjam | 0:da791f233257 | 58 | #endif /* LIDAR_H_ */ |