RPLIDAR A1M8 LCD
Dependencies: TS_DISCO_F746NG mbed BufferedSerial LCD_DISCO_F746NG mbed-rtos Trigo BSP_DISCO_F746NG
Main.cpp@0:88706d6abbf7, 2016-11-23 (annotated)
- Committer:
- Carminio
- Date:
- Wed Nov 23 15:19:33 2016 +0000
- Revision:
- 0:88706d6abbf7
- Child:
- 1:1ff3fe3679c1
Ver OK senza pulsanti e TFT
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 | 0:88706d6abbf7 | 9 | |
Carminio | 0:88706d6abbf7 | 10 | LCD_DISCO_F746NG lcd; |
Carminio | 0:88706d6abbf7 | 11 | |
Carminio | 0:88706d6abbf7 | 12 | |
Carminio | 0:88706d6abbf7 | 13 | //Dichiarazione oggetti |
Carminio | 0:88706d6abbf7 | 14 | DigitalIn myStartButton(USER_BUTTON); |
Carminio | 0:88706d6abbf7 | 15 | Motor lid_Motor(PWM_OUT); |
Carminio | 0:88706d6abbf7 | 16 | Communication SendCommands; |
Carminio | 0:88706d6abbf7 | 17 | |
Carminio | 0:88706d6abbf7 | 18 | int main() { |
Carminio | 0:88706d6abbf7 | 19 | // Initialize Display |
Carminio | 0:88706d6abbf7 | 20 | lcd.Clear(LCD_COLOR_BLACK); |
Carminio | 0:88706d6abbf7 | 21 | lcd.SetBackColor(LCD_COLOR_BLACK); |
Carminio | 0:88706d6abbf7 | 22 | lcd.SetTextColor(LCD_COLOR_GREEN); |
Carminio | 0:88706d6abbf7 | 23 | wait(0.3); |
Carminio | 0:88706d6abbf7 | 24 | lcd.SetFont(&Font24); |
Carminio | 0:88706d6abbf7 | 25 | lcd.DisplayStringAt(0, LINE(5), (uint8_t *)"SLAMTEC LIDAR A2", CENTER_MODE); |
Carminio | 0:88706d6abbf7 | 26 | |
Carminio | 0:88706d6abbf7 | 27 | if (myStartButton == 1) { |
Carminio | 0:88706d6abbf7 | 28 | |
Carminio | 0:88706d6abbf7 | 29 | // Initialize UART |
Carminio | 0:88706d6abbf7 | 30 | SendCommands.confUART(); |
Carminio | 0:88706d6abbf7 | 31 | |
Carminio | 0:88706d6abbf7 | 32 | // Perform a device reset |
Carminio | 0:88706d6abbf7 | 33 | // SendCommands.Reset(); |
Carminio | 0:88706d6abbf7 | 34 | |
Carminio | 0:88706d6abbf7 | 35 | // Send Get_Health command |
Carminio | 0:88706d6abbf7 | 36 | // SendCommands.Get_Health(); |
Carminio | 0:88706d6abbf7 | 37 | |
Carminio | 0:88706d6abbf7 | 38 | // Send Get_Info command |
Carminio | 0:88706d6abbf7 | 39 | // SendCommands.Get_Info(); |
Carminio | 0:88706d6abbf7 | 40 | |
Carminio | 0:88706d6abbf7 | 41 | // Start motor (PWM: Frequency 25KHz, Duty cycle 60%) |
Carminio | 0:88706d6abbf7 | 42 | lid_Motor.StartMotor_Scan(); |
Carminio | 0:88706d6abbf7 | 43 | |
Carminio | 0:88706d6abbf7 | 44 | // Start scan |
Carminio | 0:88706d6abbf7 | 45 | SendCommands.Scan(); |
Carminio | 0:88706d6abbf7 | 46 | |
Carminio | 0:88706d6abbf7 | 47 | // SendCommands.Stop(); |
Carminio | 0:88706d6abbf7 | 48 | // wait_ms(100); |
Carminio | 0:88706d6abbf7 | 49 | // lid_Motor.StopMotor_Scan(); |
Carminio | 0:88706d6abbf7 | 50 | } |
Carminio | 0:88706d6abbf7 | 51 | } |
Carminio | 0:88706d6abbf7 | 52 |