Diff: main.cpp

Revision:

0:efca88a80223

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Oct 22 22:32:02 2015 +0000
@@ -0,0 +1,26 @@
+#include "LidarLitev2.h"
+
+LidarLitev2 Lidar(p28, p27);// Instantiate the LidarLitev2 with name Lidar and I2C pin (SDA, SCL)
+Serial pc(USBTX,USBRX);     // Create a serial connection to pc through the mbed USB cable
+DigitalIn pinMode(p24);     // This pin is to detect the mode out of the lidar in continous mode
+
+
+Timer dt;   // Instantiate a timer for clocking the Hz of the distance reads 
+int main()
+{   
+    
+    pc.baud(115200);    // Set the baud rate for serial communication with the computer
+    Lidar.configure();  // Configure the Lidar
+    Lidar.beginContinuous();/* Set the lidar for continous reading
+                            this mode makes the lidar pull pinMode low when ready to be read*/  
+    dt.start(); // Instantiate a timer for clocking the Hz of the distance reads 
+    while(1){
+        if(!pinMode)    //Check if the lidar is pulling low
+        {
+            pc.printf("distance = %d cm frequency = %.2f Hz\n", Lidar.distanceContinuous(), 1/dt.read());
+            /*Call the lidar distance function and and the timer read while printing out
+              both statements formatted to the computer through serial. */
+        }
+
+    }
+}
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