jim hamblen / Mbed 2 deprecated Laser_Rangefinder

Demo program for the Parallax Laser Range Finder

Dependencies:   mbed

main.cpp@0:ccc26a94788d, 2011-11-06 (annotated)

Committer:
4180_1
Date:
Sun Nov 06 02:08:57 2011 +0000
Revision:
0:ccc26a94788d

        

        
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#include "mbed.h"





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//Demo program for the Parallax Laser Range Finder





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//





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DigitalOut myled(LED1);





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Serial pc(USBTX, USBRX);





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Serial lrf(p9,p10);





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int main() {





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    int mm_range=0;





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    char lrfchar=0;





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//Print prompt





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    pc.printf("\f\nLaser Range Finder demo program\n\r");





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//Delay for lrf power on startup





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    wait(2.5);





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    lrf.baud(115200);





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// lrf autobaud setup





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    do {





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        lrf.putc('U');





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        pc.putc('.');





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        wait(.2);





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        if (lrf.readable()) lrfchar = lrf.getc();





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    } while (lrfchar != ':');





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    pc.printf("\n\r");





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    // clear out any extra characters - just in case





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    while (lrf.readable()) {





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        lrfchar = lrf.getc();





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    }





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// Loop taking range readings forever





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    while (1) {





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        myled=1;





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        lrf.putc('B'); //Take Binary range reading





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        // read in the four bytes for the range in mm (MSB first)





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        mm_range=0;





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        mm_range=lrf.getc();





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        mm_range=(mm_range<<8)|lrf.getc();





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        mm_range=(mm_range<<8)|lrf.getc();





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        mm_range=(mm_range<<8)|lrf.getc();





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        myled=0;





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        //eat CR & ":" command prompt





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        do {





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            lrfchar=lrf.getc();





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        } while (lrfchar != ':');





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        //Display readings on PC Virtual Com port via USB cable





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        pc.printf("Range is %d mm\n\r",mm_range);





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    }





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}