ROME 2 Lab5
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Main.cpp
00001 /* 00002 * Main.cpp 00003 * Copyright (c) 2020, ZHAW 00004 * All rights reserved. 00005 */ 00006 00007 #include <mbed.h> 00008 #include <EthernetInterface.h> 00009 #include "LIDAR.h" 00010 #include "HTTPServer.h" 00011 #include "HTTPScriptLIDAR.h" 00012 00013 int main() { 00014 00015 // initialise digital inputs and outputs 00016 00017 printf("Initialise digital inputs and outputs...\r\n"); 00018 00019 DigitalIn button(USER_BUTTON); 00020 00021 DigitalOut ledGreen(LED1); 00022 DigitalOut ledBlue(LED2); 00023 DigitalOut ledRed(LED3); 00024 00025 // create LIDAR device driver 00026 00027 printf("Create LIDAR device driver...\r\n"); 00028 00029 PwmOut pwm(PE_9); 00030 pwm.period(0.00005f); 00031 pwm.write(0.5f); 00032 00033 ThisThread::sleep_for(500); 00034 00035 RawSerial serial(PG_14, PG_9); 00036 LIDAR lidar(serial); 00037 00038 // create ethernet interface and webserver 00039 00040 printf("Create ethernet interface and webserver (please wait!)...\r\n"); 00041 00042 EthernetInterface* ethernet = new EthernetInterface(); 00043 ethernet->set_network("192.168.201.44", "255.255.255.0", "169.168.201.1"); // configure IP address, netmask and gateway address 00044 ethernet->connect(); 00045 00046 HTTPServer* httpServer = new HTTPServer(*ethernet); 00047 httpServer->add("lidar", new HTTPScriptLIDAR(lidar)); 00048 00049 // enter main loop 00050 00051 printf("Enter main loop...\r\n"); 00052 00053 while (true) { 00054 Timer timer; 00055 timer.start(); 00056 lidar.getBeacons(); 00057 int duration = timer.read_us(); 00058 printf("Zeit für getBeacons: %d \r\n",duration); 00059 timer.reset(); 00060 ThisThread::sleep_for(100); 00061 // set LEDs on microcontroller 00062 00063 ledGreen = 1; 00064 ledBlue = 0; 00065 ledRed = 0; 00066 00067 ThisThread::sleep_for(100); 00068 00069 ledGreen = 0; 00070 ledBlue = 1; 00071 ledRed = 0; 00072 00073 ThisThread::sleep_for(100); 00074 00075 ledGreen = 0; 00076 ledBlue = 0; 00077 ledRed = 1; 00078 00079 ThisThread::sleep_for(100); 00080 } 00081 } 00082
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