Luis Afonso
/
SRA
SRA codes
main.cpp
- Committer:
- LuisRA
- Date:
- 2019-04-11
- Revision:
- 1:9e4b9c339ea2
- Parent:
- 0:2b691d200d6f
File content as of revision 1:9e4b9c339ea2:
#include "mbed.h" #include "BufferedSerial.h" #include "rplidar.h" Serial pc(SERIAL_TX, SERIAL_RX, 1000000); RPLidar lidar; BufferedSerial se_lidar(PA_9, PA_10); PwmOut rplidar_motor(A3); int main() { pc.baud(1000000);//115200); pc.printf("main\n"); wait(1); rplidar_motor.period(0.001f); lidar.begin(se_lidar); lidar.setAngle(0,360); pc.printf("Program started.\n"); lidar.startThreadScan(); while(1) { struct RPLidarMeasurement data; // poll for measurements. Returns -1 if no new measurements are available. returns 0 if found one. if(lidar.pollSensorData(&data) == 0) { //if(data.angle < 5.0 && data.angle > -5.0) pc.printf("%f\t%f\t%d\t%c\n", data.distance, data.angle, data.quality, data.startBit); } //wait(0.02); } }