Revision 1:cce1f1fab87f, committed 2021-12-12

Comitter:

villemejane

Date:

Sun Dec 12 12:36:57 2021 +0000

Parent:

0:b57a1ecda8dd

Commit message:

RP Lidar Testing program

Changed in this revision

diff -r b57a1ecda8dd -r cce1f1fab87f main.cpp
--- a/main.cpp	Tue Apr 13 12:42:42 2021 +0000
+++ b/main.cpp	Sun Dec 12 12:36:57 2021 +0000
@@ -30,7 +30,7 @@
 DigitalOut          data_ok_q(D4);
  
 Serial              lidar(A0, A1, 115200);
-PwmOut              rotation(D14);
+PwmOut              rotation(PB_9);
  
 struct lidar_data   ld_current;
  
@@ -60,10 +60,10 @@
             debug_tour = !debug_tour;
         }
  
-        if(tour_ok == 4){
+        if(tour_ok == 6){
             int maxDistance, maxAngle;
             tour_ok = 0;
-            findMax(distance_scan_old, 360, &maxDistance, &maxAngle);
+            findMax(distance_scan_old, 0, 360, &maxDistance, &maxAngle);
             print_int("A", maxAngle);
         }
         /*

diff -r b57a1ecda8dd -r cce1f1fab87f rplidar.cpp
--- a/rplidar.cpp	Tue Apr 13 12:42:42 2021 +0000
+++ b/rplidar.cpp	Sun Dec 12 12:36:57 2021 +0000
@@ -18,10 +18,10 @@
     wait_us(sec*1000000);
 }
  
-void findMax(int *int_data, int size_data, int *value, int *indice){
+void findMax(int *int_data, int angle_min, int angle_max, int *value, int *indice){
     *value = 0;
     *indice = 0;
-    for(int k = 0; k < size_data; k++){
+    for(int k = angle_min; k < angle_max; k++){
         if(int_data[k] > *value){
             *value = int_data[k];
             *indice = k;

diff -r b57a1ecda8dd -r cce1f1fab87f rplidar.h
--- a/rplidar.h	Tue Apr 13 12:42:42 2021 +0000
+++ b/rplidar.h	Sun Dec 12 12:36:57 2021 +0000
@@ -60,7 +60,7 @@
  
 /** Find max in an integer array
  */ 
-void findMax(int *int_data, int size, int *value, int *indice);
+void findMax(int *int_data, int angle_min, int angle_max, int *value, int *indice);
  
 /************************************************************************* LIDAR FUNCTIONS */