Diff: main.cpp

Revision:

0:b7ef99889b44

Child:

2:2d0d003ca3b8

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Apr 30 23:05:01 2017 +0000
@@ -0,0 +1,54 @@
+#include "mbed.h"
+#include "m3pi.h"
+#include "x_nucleo_53l0a1.h"
+#include <stdio.h>
+
+/* This VL53L0X Expansion board test application performs a range measurement in polling mode
+   on the onboard embedded top sensor. */
+
+#define VL53L0_I2C_SDA   D14 
+#define VL53L0_I2C_SCL   D15 
+
+static X_NUCLEO_53L0A1 *board=NULL;
+
+
+//VIN -- VOUT
+//GND -- GND
+//SDA -- p9
+//SCA -- p10
+
+m3pi m3pi;
+DigitalOut led1(LED1);
+DigitalOut led2(LED2);
+
+int main() {
+    //LIDAR setup
+    int status;
+    uint32_t distance;
+    DevI2C *device_i2c =new DevI2C(p28, p27);         
+    /* creates the 53L0A1 expansion board singleton obj */
+    board = X_NUCLEO_53L0A1::Instance(device_i2c,p21,p21,p21);
+    /* init the 53L0A1 expansion board with default values */
+    status=board->InitBoard();
+    
+    if(status) { led1 = 1; return 0; }
+    
+    m3pi.locate(0,1);
+    m3pi.printf("YO");
+    
+    while(1) {
+        status = board->sensor_centre->GetDistance(&distance);
+        if (status == VL53L0X_ERROR_NONE) {
+            m3pi.locate(0,1);
+            m3pi.printf("%u", distance);
+            printf("%u\r\n", distance);
+            if (distance > 50) {
+                m3pi.forward(.1);
+                led2 = 1;
+            } else {
+                m3pi.stop();
+                led2 = 0;
+            }
+        }   
+    }   
+}
\ No newline at end of file