main.cpp

00001 #include "LidarLitev2.h"
00002 
00003 
00004 LidarLitev2 Lidar(PTE25, PTE24);
00005 Serial pc(USBTX,USBRX);             //UART0
00006 Serial device(PTC17, PTC16);           //UART3
00007 Serial kw41z(PTD3, PTD2);                     //UART2
00008 
00009 int counter = 0;
00010 
00011 Timer dt;
00012 
00013 int main()
00014 {   
00015     
00016     pc.baud(115200);
00017     device.baud(115200);
00018     kw41z.baud(115200);
00019     Lidar.configure();
00020     dt.start();
00021 
00022     while(1){
00023          pc.printf( "distance =%d cm\t",Lidar.distance());
00024        //device.printf( "%d" ,Lidar.distance());
00025          //int temp=Lidar.distance();
00026          wait_ms(500);
00027           //pc.printf("%d\n",temp);
00028          
00029          dt.reset();
00030          if(Lidar.distance()>1 and Lidar.distance()<=15)
00031          {
00032          device.printf("1"); 
00033          //kw41z.printf("coap CON POST fd18:16b7:2982:2c23:d07c:a5c0:a751:5e10 /led rgb r255 g0 b0\n");
00034          pc.printf("case: 1\r\n"); 
00035          if (counter == 0){
00036          kw41z.printf("coap CON POST fd18:16b7:2982:2c23:d07c:a5c0:a751:5e10 /led rgb r255 g0 b0\n"); 
00037         counter = 1;
00038            }    
00039         }
00040         
00041         else if(Lidar.distance()>15 and Lidar.distance()<=60)
00042         {
00043          device.printf("2"); 
00044          pc.printf("case: 2\r\n");
00045          if (counter == 0){
00046          kw41z.printf("coap CON POST fd18:16b7:2982:2c23:d07c:a5c0:a751:5e10 /led rgb r255 g0 b0\n"); 
00047         counter = 1;
00048            }  
00049          }
00050                  else if(Lidar.distance()>60 and Lidar.distance()<=120)
00051         {
00052          device.printf("3");  
00053          //kw41z.printf("coap CON POST fd18:16b7:2982:2c23:d07c:a5c0:a751:5e10 /led rgb r0 g255 b0\n");
00054            pc.printf("case: 3\r\n"); 
00055            if (counter == 1) {
00056                kw41z.printf("coap CON POST fd18:16b7:2982:2c23:d07c:a5c0:a751:5e10 /led rgb r0 g255 b0\n");
00057                counter = 0;
00058                }
00059          }
00060                  else if(Lidar.distance()>120 and Lidar.distance()<=180)
00061         {
00062          device.printf("4");
00063          //kw41z.printf("coap CON POST fd18:16b7:2982:2c23:d07c:a5c0:a751:5e10 /led rgb r0 g255 b0\n"); 
00064            pc.printf("case: 4\r\n");  
00065             if (counter == 1) {
00066                kw41z.printf("coap CON POST fd18:16b7:2982:2c23:d07c:a5c0:a751:5e10 /led rgb r0 g255 b0\n");
00067                counter = 0;
00068                } 
00069          }
00070                  else if(Lidar.distance()>180)
00071         {
00072          device.printf("5");
00073          //kw41z.printf("coap CON POST fd18:16b7:2982:2c23:d07c:a5c0:a751:5e10 /led rgb r0 g255 b0\n");
00074            pc.printf("case: 5\r\n"); 
00075             if (counter == 1) {
00076                kw41z.printf("coap CON POST fd18:16b7:2982:2c23:d07c:a5c0:a751:5e10 /led rgb r0 g255 b0\n");
00077                counter = 0;
00078                }   
00079          }
00080          else
00081          {
00082              device.printf("0");
00083              //kw41z.printf("coap CON POST fd18:16b7:2982:2c23:d07c:a5c0:a751:5e10 /led rgb r0 g255 b0\n");
00084                pc.printf("case: 0\r\n"); 
00085                 if (counter == 0) {
00086                kw41z.printf("coap CON POST fd18:16b7:2982:2c23:d07c:a5c0:a751:5e10 /led rgb r255 g0 b0\n");
00087                counter = 1;
00088                } 
00089              }
00090          
00091 }
00092 }