Diff: main.cpp

Revision:

0:c25c4b67b6a1

Child:

2:faef6636d456

diff -r 000000000000 -r c25c4b67b6a1 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon May 03 14:49:18 2021 +0000
@@ -0,0 +1,39 @@
+// Coded by Luís Afonso 11-04-2019
+#include "mbed.h"
+#include "BufferedSerial.h"
+#include "rplidar.h"
+#include "Robot.h"
+#include "Communication.h"
+
+Serial pc(SERIAL_TX, SERIAL_RX);
+RPLidar lidar;
+BufferedSerial se_lidar(PA_9, PA_10);
+PwmOut rplidar_motor(D3);
+
+int main()
+{
+    float odomX, odomY, odomTheta;
+    struct RPLidarMeasurement data;
+    
+    pc.baud(115200);
+    init_communication(&pc);
+
+    // Lidar initialization
+    rplidar_motor.period(0.001f);
+    rplidar_motor.write(0.5f);
+    lidar.begin(se_lidar);
+    lidar.setAngle(0,360);
+
+    pc.printf("Program started.\n");
+        
+    lidar.startThreadScan();
+    
+    while(1) {
+        // poll for measurements. Returns -1 if no new measurements are available. returns 0 if found one.
+        if(lidar.pollSensorData(&data) == 0)
+        {
+            pc.printf("%f\t%f\t%d\t%c\n", data.distance, data.angle, data.quality, data.startBit); // Prints one lidar measurement.
+        }
+       wait(0.01); 
+    }
+}