Diff: LIDAR.h

Revision:

0:1a0321f1ffbc

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LIDAR.h	Fri May 18 12:18:21 2018 +0000
@@ -0,0 +1,60 @@
+/*
+ * LIDAR.h
+ * Copyright (c) 2018, ZHAW
+ * All rights reserved.
+ */
+
+#ifndef LIDAR_H_
+#define LIDAR_H_
+
+#include <cstdlib>
+#include <mbed.h>
+
+/**
+ * This is a device driver class for the Slamtec RP LIDAR A1.
+ */
+class LIDAR {
+    
+    public:
+        
+                    LIDAR(RawSerial& serial);
+        virtual     ~LIDAR();
+        short       getDistance(short angle);
+        short       getDistanceOfBeacon();
+        short       getAngleOfBeacon();
+        void        lookForBeacon();
+        
+    private:
+        
+        static const unsigned short HEADER_SIZE = 7;
+        static const unsigned short DATA_SIZE = 5;
+        
+        static const char   START_FLAG = 0xA5;
+        static const char   SCAN = 0x20;
+        static const char   STOP = 0x25;
+        static const char   RESET = 0x40;
+        
+        static const char   QUALITY_THRESHOLD = 10;
+        static const short  DISTANCE_THRESHOLD = 10;
+        static const short  DEFAULT_DISTANCE = 10000;
+        static const short  MIN_DISTANCE = 500;
+        static const short  MAX_DISTANCE = 2000;
+        static const short  THRESHOLD = 500;
+        static const short  WINDOW = 75;
+        static const short  MIN_SIZE = 2;
+        static const short  MAX_SIZE = 9;
+        
+        RawSerial&  serial;             // reference to serial interface for communication
+        char        headerCounter;
+        char        dataCounter;
+        char        data[DATA_SIZE];
+        short       distances[360];     // measured distance for every angle value, given in [mm]
+        short       distanceOfBeacon;   // distance of detected beacon, given in [mm]
+        short       angleOfBeacon;      // angle of detected beacon, given in [degrees]
+        bool        lookClockwise;      // flag to indicate direction of search algorithm
+        
+        void        receive();
+};
+
+#endif /* LIDAR_H_ */
+