João Pedro Castilho
/
DEEC_STM32_for_Romi_and_Rplidar
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Diff: main.cpp
- Revision:
- 0:2b691d200d6f
- Child:
- 1:dc87724abce8
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Apr 09 17:53:31 2019 +0000
@@ -0,0 +1,39 @@
+#include "mbed.h"
+#include "BufferedSerial.h"
+#include "rplidar.h"
+
+Serial pc(SERIAL_TX, SERIAL_RX, 1000000);
+RPLidar lidar;
+BufferedSerial se_lidar(PA_9, PA_10);
+PwmOut rplidar_motor(A3);
+
+
+
+int main()
+{
+
+ pc.baud(1000000);//115200);
+ pc.printf("main\n");
+ wait(1);
+
+ rplidar_motor.period(0.001f);
+ lidar.begin(se_lidar);
+ lidar.setAngle(0,360);
+
+
+ pc.printf("Program started.\n");
+
+
+ lidar.startThreadScan();
+
+
+ while(1) {
+ struct RPLidarMeasurement data;
+ // poll for measurements. Returns -1 if no new measurements are available. returns 0 if found one.
+ if(lidar.pollSensorData(&data) == 0)
+ {
+ pc.printf("%f\t%f\t%d\t%c\n", data.distance, data.angle, data.quality, data.startBit);
+ }
+ wait(0.1);
+ }
+}