Diff: LIDAR.h
- Revision:
- 0:893a1e710078
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LIDAR.h Tue Apr 28 13:59:27 2020 +0000
@@ -0,0 +1,54 @@
+/*
+ * LIDAR.h
+ * Copyright (c) 2020, ZHAW
+ * All rights reserved.
+ */
+
+#ifndef LIDAR_H_
+#define LIDAR_H_
+
+#include <cstdlib>
+#include <deque>
+#include <mbed.h>
+#include "Point.h"
+
+/**
+ * This is a device driver class for the Slamtec RP LIDAR A1.
+ */
+class LIDAR {
+
+ public:
+
+ LIDAR(RawSerial& serial);
+ virtual ~LIDAR();
+ deque<Point> getScan();
+ deque<Point> getBeacons();
+
+ private:
+
+ static const unsigned short HEADER_SIZE = 7;
+ static const unsigned short DATA_SIZE = 5;
+
+ static const char START_FLAG = 0xA5;
+ static const char SCAN = 0x20;
+ static const char STOP = 0x25;
+ static const char RESET = 0x40;
+
+ static const char QUALITY_THRESHOLD = 10; // quality threshold used for accepting measurements
+ static const float DISTANCE_THRESHOLD; // threshold for measured distance, given in [m]
+ static const float DEFAULT_DISTANCE; // default distance > range of sensor, given in [m]
+ static const float M_PI; // the mathematical constant PI
+ static const float DISTANCES[]; // simulated distance for every angle value, given in [m]
+
+ RawSerial& serial; // reference to serial interface for communication
+ char headerCounter;
+ char dataCounter;
+ char data[DATA_SIZE];
+ float distances[360]; // measured distance for every angle value, given in [m]
+ bool simulation; // flag to indicate if scans are only simulated
+
+ void receive();
+};
+
+#endif /* LIDAR_H_ */
+