Diff: main.cpp

Revision:

1:dc87724abce8

Parent:

0:2b691d200d6f

Child:

3:0a718d139ed1

--- a/main.cpp	Tue Apr 09 17:53:31 2019 +0000
+++ b/main.cpp	Thu Apr 11 09:51:28 2019 +0000
@@ -1,39 +1,38 @@
+// 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, 1000000);
+Serial pc(SERIAL_TX, SERIAL_RX);
 RPLidar lidar;
 BufferedSerial se_lidar(PA_9, PA_10);
 PwmOut rplidar_motor(A3);
 
-
-
 int main()
 {
+    float odomX, odomY, odomTheta;
+    struct RPLidarMeasurement data;
+    
+    pc.baud(115200);
+    init_communication(&pc);
 
-    pc.baud(1000000);//115200);
-    pc.printf("main\n");
-    wait(1);
-
+    // Lidar initialization
     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);
+            pc.printf("%f\t%f\t%d\t%c\n", data.distance, data.angle, data.quality, data.startBit); // Prints one lidar measurement.
         }
        wait(0.1); 
     }
-}
+}
\ No newline at end of file