Steven Ventura / LidarLitev2

LidarLitev2 Library for distance reading. Capable of both single distance reads and continuous distance read setup.

Dependents:   Lidar_Distance Lidar_DistanceContinuous Lidar_2D_Mapping Motions_Secure_Server_IUPUI ... more

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LidarLitev2 Class Reference
Public Member Functions

LidarLitev2 Class Reference

My LidarLite class Used for controlling and interacting with the LidarLitev2 Example: More...

#include <LidarLitev2.h>

Public Member Functions

void configure (int=0, int=0xc4)
 Configure the different modes of the Lidar.
void beginContinuous (bool=true, char=0x04, char=0xff, int=0xc4)
 Sets the Lidar to read continuously, indicating its ready to be read from by the modepin pulling down, a cerntain amount of times.
int distance (bool=true, bool=true, int=0xc4)
 Calclulates distance through I2C protocol of activating sensor with a write, then a write for the register, and a read.
int distanceContinuous (int=0xc4)
 1.) Set Lidar circuit for continuous mode 2.) utilize the beginContinous function and configure as desired This function returns distance without any need to activate the lidar senore through a write command, instead the mode pin pulls down when the lidar is ready for a read Returns distance as a integer in cm

Detailed Description

My LidarLite class Used for controlling and interacting with the LidarLitev2 Example: 

   //Measures distance from the lidarlite and prints it through serial
   #include "LidarLitev2.h"
   LidarLitev2 Lidar(p28, p27);
   Serial pc(USBTX,USBRX);


       Timer dt;
   int main()
   {   
    
       pc.baud(115200);
       Lidar.configure();
       dt.start();
       while(1){
           pc.printf("distance = %d cm frequency = %.2f Hz\n", Lidar.distance(), 1/dt.read());
           dt.reset();
       }
   }

Definition at line 34 of file LidarLitev2.h.

Member Function Documentation

void beginContinuous ( bool  modePinLow = true,
char  interval = 0x04,
char  numberOfReadings = 0xff,
int  LidarLitev2_addr = 0xc4 
)

Sets the Lidar to read continuously, indicating its ready to be read from by the modepin pulling down, a cerntain amount of times.

Definition at line 36 of file LidarLitev2.cpp.

void configure ( int  config = 0,
int  LidarLitev2_addr = 0xc4 
)

Configure the different modes of the Lidar.

Definition at line 13 of file LidarLitev2.cpp.

int distance ( bool  stablizePreampFlag = true,
bool  takeReference = true,
int  LidarLitev2_addr = 0xc4 
)

Calclulates distance through I2C protocol of activating sensor with a write, then a write for the register, and a read.

Definition at line 66 of file LidarLitev2.cpp.

int distanceContinuous ( int  LidarLitev2_addr = 0xc4 )

1.) Set Lidar circuit for continuous mode 2.) utilize the beginContinous function and configure as desired This function returns distance without any need to activate the lidar senore through a write command, instead the mode pin pulls down when the lidar is ready for a read Returns distance as a integer in cm

Definition at line 94 of file LidarLitev2.cpp.

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