Steven Ventura / Mbed 2 deprecated Lidar_2D_Mapping

Software for mapping with the Lidar lite v2, stepper motor, and stepper motor driver

Dependencies:   DRV88255 LidarLitev2 MODSERIAL mbed

Files at this revision

API Documentation at this revision

Revision 0:8327d88550ab, committed 2015-12-11

Comitter:
sventura3
Date:
Fri Dec 11 15:51:05 2015 +0000
Commit message:
finished the mapping;

Changed in this revision

DRV88255.lib Show annotated file Show diff for this revision Revisions of this file
LidarLitev2.lib Show annotated file Show diff for this revision Revisions of this file
MODSERIAL.lib Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file 
diff -r 000000000000 -r 8327d88550ab DRV88255.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DRV88255.lib	Fri Dec 11 15:51:05 2015 +0000
@@ -0,0 +1,1 @@
+https://developer.mbed.org/users/sventura3/code/DRV88255/#c8f423bfe891

diff -r 000000000000 -r 8327d88550ab LidarLitev2.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/LidarLitev2.lib	Fri Dec 11 15:51:05 2015 +0000
@@ -0,0 +1,1 @@
+https://developer.mbed.org/users/sventura3/code/LidarLitev2/#b0deebd36eb3

diff -r 000000000000 -r 8327d88550ab MODSERIAL.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MODSERIAL.lib	Fri Dec 11 15:51:05 2015 +0000
@@ -0,0 +1,1 @@
+http://developer.mbed.org/users/AjK/code/MODSERIAL/#ae0408ebdd68

diff -r 000000000000 -r 8327d88550ab main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Fri Dec 11 15:51:05 2015 +0000
@@ -0,0 +1,46 @@
+#include "LidarLitev2.h"
+#include "DRV8825.h"
+#include "MODSERIAL.h"
+#include "math.h"
+
+#define PI 3.14159265359
+
+Serial pc(USBTX, USBRX);
+
+DRV8825 stpr_mtr(p21, p22, p23, p24, p25, p26);
+DigitalIn pinMode(p19); 
+
+LidarLitev2 Lidar(p28, p27);
+
+
+int main()
+{   
+    stpr_mtr.direction = 1;
+    pc.baud(9600);
+    Lidar.configure();
+    //Lidar.beginContinuous();
+    float degree = 0, x, y;
+    int distance;
+    char e;
+    while(1){
+         if(pc.readable()) {
+             e = pc.getc();
+        }
+        while (e == 'e'){
+         //if(!pinMode) {  //Check if the lidar is pulling low
+            distance = Lidar.distance();
+            x = distance*cos(degree*(PI/180));
+            y =  distance*sin(degree*(PI/180));
+            stpr_mtr.settings(1, 0, 400);
+            degree += .45;
+            if(degree >= 360) degree = 0;
+            //pc.printf("%4d,%4.0f\n", distance, degree);
+            pc.printf("%4.0f,%4.0f\n", x, y);
+          //}
+          if(pc.readable()) {
+             e = pc.getc();
+            }
+          if (e == 's') break;
+        }
+    }
+}
\ No newline at end of file

diff -r 000000000000 -r 8327d88550ab mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Fri Dec 11 15:51:05 2015 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/165afa46840b
\ No newline at end of file