Joseph Roberts / LidarLitePwm

Library for the LidarLite, gets distance in cm using the pwm output

Dependents:   LidarLite_test

Fork of MaxbotixDriver by Daniel Casner

Files at this revision

API Documentation at this revision

Revision 3:0b1f4404cb21, committed 2015-04-01

Comitter:
joe4465
Date:
Wed Apr 01 11:18:45 2015 +0000
Parent:
2:be66a4cd86c0
Commit message:
...

Changed in this revision

LidarLitePwm.cpp Show annotated file Show diff for this revision Revisions of this file
LidarLitePwm.h Show annotated file Show diff for this revision Revisions of this file 
diff -r be66a4cd86c0 -r 0b1f4404cb21 LidarLitePwm.cpp
--- a/LidarLitePwm.cpp	Wed Mar 18 09:17:13 2015 +0000
+++ b/LidarLitePwm.cpp	Wed Apr 01 11:18:45 2015 +0000
@@ -4,6 +4,7 @@
 {
     _pulseStartTime = 0;
     _range = 0;
+    _lidarFilter = new filter(5);
     _timer.start();
     _interrupt.rise(this, &LidarLitePwm::pulseStart);
     _interrupt.fall(this, &LidarLitePwm::pulseStop);
@@ -13,7 +14,8 @@
 
 int LidarLitePwm::read()
 {
-    return _range;
+    if(_range < 30) return 0;
+    else return _range - 30;
 }
 
 LidarLitePwm::operator int()
@@ -30,5 +32,6 @@
 {
     int endTime = _timer.read_us();
     if (endTime < _pulseStartTime) return; // Escape if there's been a roll over
-    _range = (endTime - _pulseStartTime) / 10; // 10uS per CM
+    int range = (endTime - _pulseStartTime) / 10; // 10uS per CM
+    _range = _lidarFilter->process(range);
 }
\ No newline at end of file

diff -r be66a4cd86c0 -r 0b1f4404cb21 LidarLitePwm.h
--- a/LidarLitePwm.h	Wed Mar 18 09:17:13 2015 +0000
+++ b/LidarLitePwm.h	Wed Apr 01 11:18:45 2015 +0000
@@ -1,4 +1,5 @@
 #include "mbed.h"
+#include "filter.h"
 
 #ifndef LidarLitePwm_H
 #define LidarLitePwm_H
@@ -12,6 +13,7 @@
     /// Returns range in cm as int
     int read();
     
+    
     /// Returns the range in CM as an int
     operator int();
     
@@ -30,6 +32,8 @@
     int _pulseStartTime;
     /// The most recent sample
     int _range;
+    
+    filter* _lidarFilter;
 };
  
 #endif
\ No newline at end of file