João Pedro Castilho / Mbed OS DEEC_STM32_for_Romi_and_Rplidar

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main.cpp

Committer:
ccpjboss
Date:
2021-04-28
Revision:
4:272090bf74fe
Parent:
3:0a718d139ed1
Child:
5:22ad3005bc11

File content as of revision 4:272090bf74fe:

// Coded by Luís Afonso 11-04-2019
#include "mbed.h"
#include "BufferedSerial.h"
#include "rplidar.h"
#include "Robot.h"
#include "Communication.h"

Serial pc(SERIAL_TX, SERIAL_RX);
RPLidar lidar;
BufferedSerial se_lidar(PA_9, PA_10);
PwmOut rplidar_motor(D3);

int main()
{
    float odomX, odomY, odomTheta;
    struct RPLidarMeasurement data;
    
    pc.baud(115200);
    init_communication(&pc);

    // 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");
        
    lidar.startThreadScan();
    
    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.
        }
       wait(0.01); 
    }
}