main.cpp

00001 #include "LidarLitev2.h"
00002 
00003 LidarLitev2 Lidar(p28, p27);// Instantiate the LidarLitev2 with name Lidar and I2C pin (SDA, SCL)
00004 Serial pc(USBTX,USBRX);     // Create a serial connection to pc through the mbed USB cable
00005 DigitalIn pinMode(p24);     // This pin is to detect the mode out of the lidar in continous mode
00006 
00007 
00008 Timer dt;   // Instantiate a timer for clocking the Hz of the distance reads 
00009 int main()
00010 {   
00011     
00012     pc.baud(115200);    // Set the baud rate for serial communication with the computer
00013     Lidar.configure();  // Configure the Lidar
00014     Lidar.beginContinuous();/* Set the lidar for continous reading
00015                             this mode makes the lidar pull pinMode low when ready to be read*/  
00016     dt.start(); // Instantiate a timer for clocking the Hz of the distance reads 
00017     while(1){
00018         if(!pinMode)    //Check if the lidar is pulling low
00019         {
00020             pc.printf("distance = %d cm frequency = %.2f Hz\n", Lidar.distanceContinuous(), 1/dt.read());
00021             /*Call the lidar distance function and and the timer read while printing out
00022               both statements formatted to the computer through serial. */
00023         }
00024 
00025     }
00026 }