Tiago Correia / Mbed OS SRA2020-2021

v1

Dependencies:   BufferedSerial

Files at this revision

API Documentation at this revision

Revision 2:faef6636d456, committed 2021-05-05

Comitter:
yaaqobhpt
Date:
Wed May 05 14:14:28 2021 +0000
Parent:
1:e165afe8b120
Commit message:
dada

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show diff for this revision Revisions of this file
rplidar/RPlidar.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Wed May 05 13:55:51 2021 +0000
+++ b/main.cpp	Wed May 05 14:14:28 2021 +0000
@@ -12,15 +12,13 @@
 
 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);
+    rplidar_motor.period(0.0005f);
     lidar.begin(se_lidar);
     lidar.setAngle(0,360);
 

--- a/mbed.bld	Wed May 05 13:55:51 2021 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400
\ No newline at end of file

--- a/rplidar/RPlidar.cpp	Wed May 05 13:55:51 2021 +0000
+++ b/rplidar/RPlidar.cpp	Wed May 05 14:14:28 2021 +0000
@@ -60,7 +60,7 @@
             newMeasurement = 1;
                
           
-            if(!mail_box.full())
+            /*if(!mail_box.full())
             {            
                 struct RPLidarMeasurement current = getCurrentPoint();
                 struct RPLidarMeasurement *mail = mail_box.alloc();
@@ -100,7 +100,7 @@
                 }
                 
 
-            }
+            }*/
         }
         mutex_measurements.unlock();    
         wait_us(2000);