Diff: main.cpp

Revision:

0:1d10a6e6808c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Mar 03 21:49:13 2021 +0000
@@ -0,0 +1,148 @@
+/*
+ *  RPLIDAR SDK for Mbed
+ *
+ *  Copyright (c) 2009 - 2014 RoboPeak Team
+ *  http://www.robopeak.com
+ *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
+ *  http://www.slamtec.com
+ *
+ */
+/*
+ * Redistribution and use in source and binary forms, with or without 
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice, 
+ *    this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice, 
+ *    this list of conditions and the following disclaimer in the documentation 
+ *    and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, 
+ * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR 
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; 
+ * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, 
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR 
+ * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, 
+ * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
+#include "RawSerial.h"
+#include "mbed.h"
+#include "rplidar.h"
+#include "rplidar_driver.h"
+#include "print.h"
+#include <cstdio>
+
+/*
+ *
+ * NOTICE : The led2 of the nucleo is coordinated with motor lidar's state
+ * 1 : motor on
+ * 0 : motor off
+ *
+ */
+
+// <VARIABLES> 
+RPLidar lidar;
+const int BAUDERATE = 115200;
+int setLidar = 1; //Used to first initialize the lidar
+int angle = 90; //Divide 360° in parts to lessen the errors
+
+PwmOut VMO(PB_3); //lidar's PWM pin
+RawSerial se_lidar(PA_11, PA_12, BAUDERATE); //F401RE Tx Rx pins where is the lidar connected and the bauderate used for the serial communication
+//RawSerial se_lidar(PC_4,PC_5, BAUDERATE); //L476RG
+
+Timer tim; //Timer
+
+DigitalIn BP(USER_BUTTON);
+DigitalOut Led2(LED2);
+
+Serial PC(SERIAL_TX,SERIAL_RX); //Rx Tx pins of the USB (used to write in the serial monitor)
+
+//Thread thread;
+
+
+// ???????????
+int buf = 0;
+
+// </VARIABLES>
+
+int main(){  
+    Print printer(PC);
+
+// <GLOBAL VARIABLES INIT>
+    lidar.begin(se_lidar); //Initialize the serial port used for the lidar
+    lidar.setAngle(0,angle);
+
+    PC.baud(BAUDERATE); //initialize the bauderate in the serial monitor
+    PC.printf("READY \n");
+    //PC.attach(&Rx_interrupt, Serial::RxIrq);  //?????????????
+
+    VMO = 0; //No pulse, motor off
+    Led2.write(VMO);
+// </GLOBAL VARIABLES INIT>
+
+// <LOCAL VARIABLES & INIT>
+    int state, prevState, ledState;
+    prevState = !VMO; //motor was previously on
+    state = ledState = VMO; //motor is now off
+
+    int readTime = 2'000;   //Reading data ()
+
+    //For print
+    int sizeOfPrint = 20;   
+    int step = angle/sizeOfPrint;
+
+
+    if(setLidar == 1){
+        lidar.setLidar();
+        setLidar = 0;
+    }
+// </LOCAL VARIABLES & INIT>
+
+// <DEBUG>
+
+    //thread.start(callback(&lidar, &RPLidar::waitPoint));
+    //thread.start(&lidar, &RPLidar::waitPoint);
+
+    //thread.start(callback(&RPLidar::waitPoint, &lidar));
+
+    //wait_us(2'000'000);
+
+
+    ///PREHEAT
+    VMO = 0;
+    //wait(60);   //Supposed to preheat 2 min
+   
+    //wait(2);
+    state=0;
+    while(true) {  //Infinite loop
+        
+        state = BP.read(); //We read the button
+        //!\\ Had to change after a reboot from state==1 (which is logic) to state ==0 for some reason
+        if(state != prevState && state == 0){ //If the two states are different and the button is pressed
+            //tim.start();
+
+            //ledState = !ledState; //We invert the state of the led for debug
+            //Led2.write(ledState); //We send the value to the pin of the led
+
+            /*
+            //Sampling
+            buf = tim.read_ms();
+            while(tim.read_ms()-buf<=1'000){
+                //PC.printf("%d\n",tim.read_ms()-buf);
+                lidar.waitPoint(0);
+            }
+            */
+
+            VMO=0.9f;   //Sets motor speed
+            PC.printf("VMO = %.1f\t Angle = %d\t readTime = %d\n",(float)VMO,angle,readTime);
+            printer.getPrintData(angle, sizeOfPrint, lidar, readTime);//This one does everything in one go (gets data then prints it)
+
+        }   
+    }
+}