João Sousa / Mbed OS romi-vff

sra-romi

Dependencies:   BufferedSerial Matrix

main.cpp@0:2b691d200d6f, 2019-04-09 (annotated)

Committer:
LuisRA
Date:
Tue Apr 09 17:53:31 2019 +0000
Revision:
0:2b691d200d6f
Child:
1:dc87724abce8
initial commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
LuisRA 0:2b691d200d6f 1 #include "mbed.h"
LuisRA 0:2b691d200d6f 2 #include "BufferedSerial.h"
LuisRA 0:2b691d200d6f 3 #include "rplidar.h"
LuisRA 0:2b691d200d6f 4
LuisRA 0:2b691d200d6f 5 Serial pc(SERIAL_TX, SERIAL_RX, 1000000);
LuisRA 0:2b691d200d6f 6 RPLidar lidar;
LuisRA 0:2b691d200d6f 7 BufferedSerial se_lidar(PA_9, PA_10);
LuisRA 0:2b691d200d6f 8 PwmOut rplidar_motor(A3);
LuisRA 0:2b691d200d6f 9
LuisRA 0:2b691d200d6f 10
LuisRA 0:2b691d200d6f 11
LuisRA 0:2b691d200d6f 12 int main()
LuisRA 0:2b691d200d6f 13 {
LuisRA 0:2b691d200d6f 14
LuisRA 0:2b691d200d6f 15 pc.baud(1000000);//115200);
LuisRA 0:2b691d200d6f 16 pc.printf("main\n");
LuisRA 0:2b691d200d6f 17 wait(1);
LuisRA 0:2b691d200d6f 18
LuisRA 0:2b691d200d6f 19 rplidar_motor.period(0.001f);
LuisRA 0:2b691d200d6f 20 lidar.begin(se_lidar);
LuisRA 0:2b691d200d6f 21 lidar.setAngle(0,360);
LuisRA 0:2b691d200d6f 22
LuisRA 0:2b691d200d6f 23
LuisRA 0:2b691d200d6f 24 pc.printf("Program started.\n");
LuisRA 0:2b691d200d6f 25
LuisRA 0:2b691d200d6f 26
LuisRA 0:2b691d200d6f 27 lidar.startThreadScan();
LuisRA 0:2b691d200d6f 28
LuisRA 0:2b691d200d6f 29
LuisRA 0:2b691d200d6f 30 while(1) {
LuisRA 0:2b691d200d6f 31 struct RPLidarMeasurement data;
LuisRA 0:2b691d200d6f 32 // poll for measurements. Returns -1 if no new measurements are available. returns 0 if found one.
LuisRA 0:2b691d200d6f 33 if(lidar.pollSensorData(&data) == 0)
LuisRA 0:2b691d200d6f 34 {
LuisRA 0:2b691d200d6f 35 pc.printf("%f\t%f\t%d\t%c\n", data.distance, data.angle, data.quality, data.startBit);
LuisRA 0:2b691d200d6f 36 }
LuisRA 0:2b691d200d6f 37 wait(0.1);
LuisRA 0:2b691d200d6f 38 }
LuisRA 0:2b691d200d6f 39 }