João Pedro Castilho / Mbed OS DEEC_STM32_for_Romi_and_Rplidar

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Diff: main.cpp

Revision:
4:272090bf74fe
Parent:
3:0a718d139ed1
Child:
5:22ad3005bc11
--- a/main.cpp	Wed Apr 24 16:00:07 2019 +0000
+++ b/main.cpp	Wed Apr 28 11:19:28 2021 +0000
@@ -20,8 +20,10 @@
 
     // Lidar initialization
     rplidar_motor.period(0.001f);
+    rplidar_motor.write(0.85f);
     lidar.begin(se_lidar);
     lidar.setAngle(0,360);
+    setSpeeds(0,0);
 
     pc.printf("Program started.\n");
         
@@ -29,6 +31,7 @@
     
     while(1) {
         // poll for measurements. Returns -1 if no new measurements are available. returns 0 if found one.
+        pc.printf("%f\n",rplidar_motor.read());
         if(lidar.pollSensorData(&data) == 0)
         {
             pc.printf("%f\t%f\t%d\t%c\n", data.distance, data.angle, data.quality, data.startBit); // Prints one lidar measurement.