Děkuji
Kód: Vybrat vše
// This sketch code is based on the RPLIDAR driver library provided by RoboPeak
#include <RPLidar.h>
// You need to create an driver instance
RPLidar lidar;
#define RPLIDAR_MOTOR 3 // The PWM pin for control the speed of RPLIDAR's motor.
// This pin should connected with the RPLIDAR's MOTOCTRL signal
void setup() {
// bind the RPLIDAR driver to the arduino hardware serial
lidar.begin(Serial);
// set pin modes
pinMode(RPLIDAR_MOTOR, OUTPUT);
}
void loop() {
if (IS_OK(lidar.waitPoint())) {
float distance = lidar.getCurrentPoint().distance; //distance value in mm unit
float angle = lidar.getCurrentPoint().angle; //anglue value in degree
bool startBit = lidar.getCurrentPoint().startBit; //whether this point is belong to a new scan
byte quality = lidar.getCurrentPoint().quality; //quality of the current measurement
Serial.printl(distance);
} else {
analogWrite(RPLIDAR_MOTOR, 0); //stop the rplidar motor
// try to detect RPLIDAR...
rplidar_response_device_info_t info;
if (IS_OK(lidar.getDeviceInfo(info, 100))) {
// detected...
lidar.startScan();
// start motor rotating at max allowed speed
analogWrite(RPLIDAR_MOTOR, 255);
delay(1000);
}
}
}
