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sra-romi
Dependencies: BufferedSerial Matrix
main.cpp
- Committer:
- fabiofaria
- Date:
- 2019-04-24
- Revision:
- 3:0a718d139ed1
- Parent:
- 1:dc87724abce8
- Child:
- 4:1defb279922a
File content as of revision 3:0a718d139ed1:
// 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); lidar.begin(se_lidar); lidar.setAngle(0,360); 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. 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); } }