RPLIDAR A1M8 LCD
Dependencies: TS_DISCO_F746NG mbed BufferedSerial LCD_DISCO_F746NG mbed-rtos Trigo BSP_DISCO_F746NG
Main.cpp@1:1ff3fe3679c1, 2016-11-23 (annotated)
- Committer:
- Carminio
- Date:
- Wed Nov 23 16:18:07 2016 +0000
- Revision:
- 1:1ff3fe3679c1
- Parent:
- 0:88706d6abbf7
- Child:
- 2:8f71c97fe9d7
Versione con pulsanti da sistemare
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Carminio | 0:88706d6abbf7 | 1 | #include "mbed.h" |
Carminio | 0:88706d6abbf7 | 2 | #include "Serial.h" |
Carminio | 0:88706d6abbf7 | 3 | #include "BufferedSerial.h" |
Carminio | 0:88706d6abbf7 | 4 | #include "Communication.h" |
Carminio | 0:88706d6abbf7 | 5 | #include "Motor.h" |
Carminio | 0:88706d6abbf7 | 6 | #include <stdlib.h> |
Carminio | 0:88706d6abbf7 | 7 | #include <stdio.h> |
Carminio | 0:88706d6abbf7 | 8 | #include "LCD_DISCO_F746NG.h" |
Carminio | 1:1ff3fe3679c1 | 9 | #include "TS_DISCO_F746NG.h" |
Carminio | 0:88706d6abbf7 | 10 | |
Carminio | 0:88706d6abbf7 | 11 | //Dichiarazione oggetti |
Carminio | 0:88706d6abbf7 | 12 | DigitalIn myStartButton(USER_BUTTON); |
Carminio | 0:88706d6abbf7 | 13 | Motor lid_Motor(PWM_OUT); |
Carminio | 0:88706d6abbf7 | 14 | Communication SendCommands; |
Carminio | 1:1ff3fe3679c1 | 15 | LCD_DISCO_F746NG lcd; |
Carminio | 1:1ff3fe3679c1 | 16 | TS_DISCO_F746NG ts; |
Carminio | 1:1ff3fe3679c1 | 17 | |
Carminio | 1:1ff3fe3679c1 | 18 | //Dichiarazione variabili |
Carminio | 1:1ff3fe3679c1 | 19 | uint16_t x, y; |
Carminio | 1:1ff3fe3679c1 | 20 | uint8_t idx; |
Carminio | 0:88706d6abbf7 | 21 | |
Carminio | 0:88706d6abbf7 | 22 | int main() { |
Carminio | 0:88706d6abbf7 | 23 | // Initialize Display |
Carminio | 0:88706d6abbf7 | 24 | lcd.Clear(LCD_COLOR_BLACK); |
Carminio | 0:88706d6abbf7 | 25 | lcd.SetBackColor(LCD_COLOR_BLACK); |
Carminio | 0:88706d6abbf7 | 26 | lcd.SetTextColor(LCD_COLOR_GREEN); |
Carminio | 0:88706d6abbf7 | 27 | wait(0.3); |
Carminio | 0:88706d6abbf7 | 28 | lcd.SetFont(&Font24); |
Carminio | 0:88706d6abbf7 | 29 | lcd.DisplayStringAt(0, LINE(5), (uint8_t *)"SLAMTEC LIDAR A2", CENTER_MODE); |
Carminio | 1:1ff3fe3679c1 | 30 | // wait(2); |
Carminio | 1:1ff3fe3679c1 | 31 | lcd.Clear(LCD_COLOR_BLACK); |
Carminio | 1:1ff3fe3679c1 | 32 | |
Carminio | 1:1ff3fe3679c1 | 33 | // Configure buttons and TFT display |
Carminio | 1:1ff3fe3679c1 | 34 | TS_StateTypeDef TS_State; |
Carminio | 1:1ff3fe3679c1 | 35 | lcd.SetTextColor(LCD_COLOR_GREEN); |
Carminio | 1:1ff3fe3679c1 | 36 | lcd.FillRect(10, 13, 50, 50); ///Disegna bottone Verde |
Carminio | 1:1ff3fe3679c1 | 37 | //lcd.SetTextColor(LCD_COLOR_RED); |
Carminio | 1:1ff3fe3679c1 | 38 | // lcd.FillRect(10, 80, 50, 50); ///Disegna bottone Rosso |
Carminio | 1:1ff3fe3679c1 | 39 | lcd.SetFont(&Font16); |
Carminio | 1:1ff3fe3679c1 | 40 | wait(0.3); |
Carminio | 1:1ff3fe3679c1 | 41 | lcd.SetBackColor(LCD_COLOR_GREEN); |
Carminio | 1:1ff3fe3679c1 | 42 | lcd.SetTextColor(LCD_COLOR_BLACK); |
Carminio | 1:1ff3fe3679c1 | 43 | lcd.DisplayStringAt(13, LINE(2), (uint8_t *)"SCAN", LEFT_MODE); |
Carminio | 1:1ff3fe3679c1 | 44 | //lcd.SetBackColor(LCD_COLOR_RED); |
Carminio | 1:1ff3fe3679c1 | 45 | // lcd.SetTextColor(LCD_COLOR_BLACK); |
Carminio | 1:1ff3fe3679c1 | 46 | // lcd.DisplayStringAt(13, LINE(6), (uint8_t *)"STOP", LEFT_MODE); |
Carminio | 0:88706d6abbf7 | 47 | |
Carminio | 0:88706d6abbf7 | 48 | if (myStartButton == 1) { |
Carminio | 1:1ff3fe3679c1 | 49 | // while(1) { |
Carminio | 1:1ff3fe3679c1 | 50 | |
Carminio | 1:1ff3fe3679c1 | 51 | // Initialize TFT display |
Carminio | 1:1ff3fe3679c1 | 52 | ts.GetState(&TS_State); |
Carminio | 1:1ff3fe3679c1 | 53 | if (TS_State.touchDetected) { |
Carminio | 1:1ff3fe3679c1 | 54 | for (idx = 0; idx < TS_State.touchDetected; idx++) { |
Carminio | 1:1ff3fe3679c1 | 55 | x = TS_State.touchX[idx]; |
Carminio | 1:1ff3fe3679c1 | 56 | y = TS_State.touchY[idx]; |
Carminio | 1:1ff3fe3679c1 | 57 | } |
Carminio | 1:1ff3fe3679c1 | 58 | // if((x>=10) && (x<=60) && (y>=13) && (y<=63)) { |
Carminio | 0:88706d6abbf7 | 59 | |
Carminio | 0:88706d6abbf7 | 60 | // Initialize UART |
Carminio | 0:88706d6abbf7 | 61 | SendCommands.confUART(); |
Carminio | 0:88706d6abbf7 | 62 | |
Carminio | 0:88706d6abbf7 | 63 | // Perform a device reset |
Carminio | 0:88706d6abbf7 | 64 | // SendCommands.Reset(); |
Carminio | 0:88706d6abbf7 | 65 | |
Carminio | 0:88706d6abbf7 | 66 | // Send Get_Health command |
Carminio | 0:88706d6abbf7 | 67 | // SendCommands.Get_Health(); |
Carminio | 0:88706d6abbf7 | 68 | |
Carminio | 0:88706d6abbf7 | 69 | // Send Get_Info command |
Carminio | 0:88706d6abbf7 | 70 | // SendCommands.Get_Info(); |
Carminio | 0:88706d6abbf7 | 71 | |
Carminio | 0:88706d6abbf7 | 72 | // Start motor (PWM: Frequency 25KHz, Duty cycle 60%) |
Carminio | 0:88706d6abbf7 | 73 | lid_Motor.StartMotor_Scan(); |
Carminio | 0:88706d6abbf7 | 74 | |
Carminio | 0:88706d6abbf7 | 75 | // Start scan |
Carminio | 0:88706d6abbf7 | 76 | SendCommands.Scan(); |
Carminio | 0:88706d6abbf7 | 77 | |
Carminio | 0:88706d6abbf7 | 78 | // SendCommands.Stop(); |
Carminio | 0:88706d6abbf7 | 79 | // wait_ms(100); |
Carminio | 0:88706d6abbf7 | 80 | // lid_Motor.StopMotor_Scan(); |
Carminio | 1:1ff3fe3679c1 | 81 | // } |
Carminio | 1:1ff3fe3679c1 | 82 | } |
Carminio | 0:88706d6abbf7 | 83 | } |
Carminio | 0:88706d6abbf7 | 84 | } |
Carminio | 0:88706d6abbf7 | 85 |