Allan Brignoli / Mbed 2 deprecated Rome2_P6

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Dependencies:   mbed

LIDAR.h@0:1a0321f1ffbc, 2018-05-18 (annotated)

Committer:
Brignall
Date:
Fri May 18 12:18:21 2018 +0000
Revision:
0:1a0321f1ffbc
lala;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Brignall 0:1a0321f1ffbc 1 /*
Brignall 0:1a0321f1ffbc 2 * LIDAR.h
Brignall 0:1a0321f1ffbc 3 * Copyright (c) 2018, ZHAW
Brignall 0:1a0321f1ffbc 4 * All rights reserved.
Brignall 0:1a0321f1ffbc 5 */
Brignall 0:1a0321f1ffbc 6
Brignall 0:1a0321f1ffbc 7 #ifndef LIDAR_H_
Brignall 0:1a0321f1ffbc 8 #define LIDAR_H_
Brignall 0:1a0321f1ffbc 9
Brignall 0:1a0321f1ffbc 10 #include <cstdlib>
Brignall 0:1a0321f1ffbc 11 #include <mbed.h>
Brignall 0:1a0321f1ffbc 12
Brignall 0:1a0321f1ffbc 13 /**
Brignall 0:1a0321f1ffbc 14 * This is a device driver class for the Slamtec RP LIDAR A1.
Brignall 0:1a0321f1ffbc 15 */
Brignall 0:1a0321f1ffbc 16 class LIDAR {
Brignall 0:1a0321f1ffbc 17
Brignall 0:1a0321f1ffbc 18 public:
Brignall 0:1a0321f1ffbc 19
Brignall 0:1a0321f1ffbc 20 LIDAR(RawSerial& serial);
Brignall 0:1a0321f1ffbc 21 virtual ~LIDAR();
Brignall 0:1a0321f1ffbc 22 short getDistance(short angle);
Brignall 0:1a0321f1ffbc 23 short getDistanceOfBeacon();
Brignall 0:1a0321f1ffbc 24 short getAngleOfBeacon();
Brignall 0:1a0321f1ffbc 25 void lookForBeacon();
Brignall 0:1a0321f1ffbc 26
Brignall 0:1a0321f1ffbc 27 private:
Brignall 0:1a0321f1ffbc 28
Brignall 0:1a0321f1ffbc 29 static const unsigned short HEADER_SIZE = 7;
Brignall 0:1a0321f1ffbc 30 static const unsigned short DATA_SIZE = 5;
Brignall 0:1a0321f1ffbc 31
Brignall 0:1a0321f1ffbc 32 static const char START_FLAG = 0xA5;
Brignall 0:1a0321f1ffbc 33 static const char SCAN = 0x20;
Brignall 0:1a0321f1ffbc 34 static const char STOP = 0x25;
Brignall 0:1a0321f1ffbc 35 static const char RESET = 0x40;
Brignall 0:1a0321f1ffbc 36
Brignall 0:1a0321f1ffbc 37 static const char QUALITY_THRESHOLD = 10;
Brignall 0:1a0321f1ffbc 38 static const short DISTANCE_THRESHOLD = 10;
Brignall 0:1a0321f1ffbc 39 static const short DEFAULT_DISTANCE = 10000;
Brignall 0:1a0321f1ffbc 40 static const short MIN_DISTANCE = 500;
Brignall 0:1a0321f1ffbc 41 static const short MAX_DISTANCE = 2000;
Brignall 0:1a0321f1ffbc 42 static const short THRESHOLD = 500;
Brignall 0:1a0321f1ffbc 43 static const short WINDOW = 75;
Brignall 0:1a0321f1ffbc 44 static const short MIN_SIZE = 2;
Brignall 0:1a0321f1ffbc 45 static const short MAX_SIZE = 9;
Brignall 0:1a0321f1ffbc 46
Brignall 0:1a0321f1ffbc 47 RawSerial& serial; // reference to serial interface for communication
Brignall 0:1a0321f1ffbc 48 char headerCounter;
Brignall 0:1a0321f1ffbc 49 char dataCounter;
Brignall 0:1a0321f1ffbc 50 char data[DATA_SIZE];
Brignall 0:1a0321f1ffbc 51 short distances[360]; // measured distance for every angle value, given in [mm]
Brignall 0:1a0321f1ffbc 52 short distanceOfBeacon; // distance of detected beacon, given in [mm]
Brignall 0:1a0321f1ffbc 53 short angleOfBeacon; // angle of detected beacon, given in [degrees]
Brignall 0:1a0321f1ffbc 54 bool lookClockwise; // flag to indicate direction of search algorithm
Brignall 0:1a0321f1ffbc 55
Brignall 0:1a0321f1ffbc 56 void receive();
Brignall 0:1a0321f1ffbc 57 };
Brignall 0:1a0321f1ffbc 58
Brignall 0:1a0321f1ffbc 59 #endif /* LIDAR_H_ */
Brignall 0:1a0321f1ffbc 60