Delta for AGV
Dependencies: mbed HC-SR04 ros_lib_kinetic
main.cpp
- Committer:
- tbjazic
- Date:
- 2016-12-10
- Revision:
- 6:bca0839e8295
- Parent:
- 4:052ac3f5c938
- Child:
- 7:35767da0302c
File content as of revision 6:bca0839e8295:
#include "mbed.h" #include "HCSR04.h" #include "AutomationElements.h" Serial pc(USBTX, USBRX); HCSR04 sensor(p5, p7); float sampleTime = 0.5; PT1 filter(1, 2, sampleTime); Ticker ticker; float distance; float filteredDistance; void calc() { sensor.startMeasurement(); } int main() { sensor.setRanges(2, 400); pc.printf("Minimum sensor range = %g cm\n\rMaximum sensor range = %g cm\n\r", sensor.getMinRange(), sensor.getMaxRange()); pc.printf("Sensor: Filtered:\n\r"); ticker.attach(&calc, sampleTime); while(true) { while(!sensor.isNewDataReady()) { // wait for new data } distance = sensor.getDistance_cm(); filter.in(distance); filteredDistance = filter.out(); pc.printf("%7.1f cm %7.1f cm\n\r", distance, filteredDistance); } }