Diff: main.cpp

Revision:

0:2b691d200d6f

Child:

1:dc87724abce8

diff -r 000000000000 -r 2b691d200d6f main.cpp
--- /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); 
+    }
+}