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Dependencies:   mbed

LIDAR.h@0:d87b2f1196e7, 2018-04-20 (annotated)

Committer:
kueenste
Date:
Fri Apr 20 13:49:49 2018 +0000
Revision:
0:d87b2f1196e7
Child:
1:f4b2dde3fa3a
P5 Fertig

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kueenste 0:d87b2f1196e7 1 /*
kueenste 0:d87b2f1196e7 2 * LIDAR.h
kueenste 0:d87b2f1196e7 3 * Copyright (c) 2018, ZHAW
kueenste 0:d87b2f1196e7 4 * All rights reserved.
kueenste 0:d87b2f1196e7 5 */
kueenste 0:d87b2f1196e7 6
kueenste 0:d87b2f1196e7 7 #ifndef LIDAR_H_
kueenste 0:d87b2f1196e7 8 #define LIDAR_H_
kueenste 0:d87b2f1196e7 9
kueenste 0:d87b2f1196e7 10 #include <cstdlib>
kueenste 0:d87b2f1196e7 11 #include <mbed.h>
kueenste 0:d87b2f1196e7 12
kueenste 0:d87b2f1196e7 13 /**
kueenste 0:d87b2f1196e7 14 * This is a device driver class for the Slamtec RP LIDAR A1.
kueenste 0:d87b2f1196e7 15 */
kueenste 0:d87b2f1196e7 16 class LIDAR {
kueenste 0:d87b2f1196e7 17
kueenste 0:d87b2f1196e7 18 public:
kueenste 0:d87b2f1196e7 19
kueenste 0:d87b2f1196e7 20 LIDAR(RawSerial& serial);
kueenste 0:d87b2f1196e7 21 virtual ~LIDAR();
kueenste 0:d87b2f1196e7 22 short getDistance(short angle);
kueenste 0:d87b2f1196e7 23 short getDistanceOfBeacon();
kueenste 0:d87b2f1196e7 24 short getAngleOfBeacon();
kueenste 0:d87b2f1196e7 25 void lookForBeacon(int direction);
kueenste 0:d87b2f1196e7 26
kueenste 0:d87b2f1196e7 27 private:
kueenste 0:d87b2f1196e7 28
kueenste 0:d87b2f1196e7 29 static const unsigned short HEADER_SIZE = 7;
kueenste 0:d87b2f1196e7 30 static const unsigned short DATA_SIZE = 5;
kueenste 0:d87b2f1196e7 31
kueenste 0:d87b2f1196e7 32 static const char START_FLAG = 0xA5;
kueenste 0:d87b2f1196e7 33 static const char SCAN = 0x20;
kueenste 0:d87b2f1196e7 34 static const char STOP = 0x25;
kueenste 0:d87b2f1196e7 35 static const char RESET = 0x40;
kueenste 0:d87b2f1196e7 36
kueenste 0:d87b2f1196e7 37 static const char QUALITY_THRESHOLD = 10;
kueenste 0:d87b2f1196e7 38 static const short DISTANCE_THRESHOLD = 10;
kueenste 0:d87b2f1196e7 39 static const short DEFAULT_DISTANCE = 10000;
kueenste 0:d87b2f1196e7 40 static const short MIN_DISTANCE = 500;
kueenste 0:d87b2f1196e7 41 static const short MAX_DISTANCE = 2000;
kueenste 0:d87b2f1196e7 42 static const short THRESHOLD = 500;
kueenste 0:d87b2f1196e7 43 static const short WINDOW = 75;
kueenste 0:d87b2f1196e7 44 static const short MIN_SIZE = 2;
kueenste 0:d87b2f1196e7 45 static const short MAX_SIZE = 9;
kueenste 0:d87b2f1196e7 46
kueenste 0:d87b2f1196e7 47 RawSerial& serial; // reference to serial interface for communication
kueenste 0:d87b2f1196e7 48 char headerCounter;
kueenste 0:d87b2f1196e7 49 char dataCounter;
kueenste 0:d87b2f1196e7 50 char data[DATA_SIZE];
kueenste 0:d87b2f1196e7 51 short distances[360]; // measured distance for every angle value, given in [mm]
kueenste 0:d87b2f1196e7 52 short distanceOfBeacon; // distance of detected beacon, given in [mm]
kueenste 0:d87b2f1196e7 53 short angleOfBeacon; // angle of detected beacon, given in [degrees]
kueenste 0:d87b2f1196e7 54
kueenste 0:d87b2f1196e7 55 void receive();
kueenste 0:d87b2f1196e7 56 };
kueenste 0:d87b2f1196e7 57
kueenste 0:d87b2f1196e7 58 #endif /* LIDAR_H_ */
kueenste 0:d87b2f1196e7 59