sra-romi
Dependencies: BufferedSerial Matrix
Diff: main.cpp
- Revision:
- 1:dc87724abce8
- Parent:
- 0:2b691d200d6f
- Child:
- 3:0a718d139ed1
diff -r 2b691d200d6f -r dc87724abce8 main.cpp --- 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