ma branche

LIDAR.cpp

-#include "./rplidar_sdk/sdk/sdk/include/rplidar.h" 
-#include "./rplidar_sdk/sdk/sdk/include/rplidar_driver.h"
+#include "./rplidar_sdk-master/sdk/include/sl_lidar.h" 
+#include "./rplidar_sdk-master/sdk/include/sl_lidar_driver.h"
 #include <stdio.h>
 #include <stdlib.h>
+#include <signal.h>
+#include <string.h>
+#include <unistd.h>
 
-
+using namespace sl;
 
 int main(int argc, char const *argv[])
 {
-    
+    // Create communication instance channel
+    IChannel *channel;
+    channel = *createSerialPortChannel("/dev/ttyUSB0", 115200);
+    // LiDAR Driver instance
+    ILidarDriver *lidar = *createLidarDriver();
+    auto res = lidar->connect(channel);
+
+    if (SL_IS_OK(res)) {
+        // Infos sur le LiDAR
+        sl_lidar_response_device_info_t deviceInfo;
+        res = lidar->getDeviceInfo(deviceInfo);
+        if (SL_IS_OK(res)) {
+            printf("Model: %d, Firmware Version: %d.%d, Hardware Version: %d\n",
+            deviceInfo.model,
+            deviceInfo.firmware_version >> 8, deviceInfo.firmware_version & 0xffu,
+            deviceInfo.hardware_version);
+        } else {
+            fprintf(stderr, "Failed to get device information from LIDAR %08x\r\n", res);
+        }
+    } else {
+        fprintf(stderr, "Failed to connect to LIDAR %08x\r\n", res);
+    }
+
+    lidar->setMotorSpeed(0);
+
+    std::vector<LidarScanMode> scanmode;
+    lidar->getAllSupportedScanModes(scanmode);
+
+    // Delete the instances
+    delete lidar;
+    delete channel;
+
     return 0;
 }

encoder.cpp

@@ -3,53 +3,58 @@
 #include <unistd.h>
 #include <iostream>
 #include <string.h>
-
+#include <math.h>
 #include <wiringPi.h>
 #include <wiringPiSPI.h>
 
 using namespace std;
 
-unsigned char rawData[4];
-const int len = 32;
-
+const int BYTE_len=4;
+const int SPI_CHANNEL=1;
+unsigned char rawData[BYTE_len];
+unsigned char rawData_delayed[BYTE_len];
+float count;
+float count_delayed;
+float speed;
+int freq=50000;
 int main(int argc, char const *argv[])
 {   
-   
+    
+    rawData_delayed[0]=0x00;
+    rawData_delayed[1]=0x00;
+    rawData_delayed[2]=0x00;
+    rawData_delayed[3]=0x00;
+
     if (wiringPiSetup() == -1) {
         printf("WiringPiSetup failed\n");
         exit(EXIT_FAILURE);
     }
 
-    //memset(rawData,0x33,8);
-    rawData[0]=0x0F;
-    rawData[7]=0x0F;
-    int fd = wiringPiSPISetup(0, 500000);
+    //memset(rawData,0x01,BYTE_len);
+    //rawData[0]=0x0F;
+    rawData[3]=0xFF;
+    rawData[0]=0x11;
+    int fd = wiringPiSPISetup(SPI_CHANNEL, 500000);
 
-    //for (int i=0; i<8; i++){
-          // printf("%d", rawData[i]); 
+    //for (int i=0; i<4; i++){
+           //printf("%02X \n", rawData[i]); 
         //}
 
     while(1) { 
-        int result = wiringPiSPIDataRW(0, rawData, len);
-        //printf("speed\n");
-        
-        printf("\r%02X %02X %02X %02X", rawData[0], rawData[1], rawData[2], rawData[3]); 
-        fflush(stdout);
+        int result = wiringPiSPIDataRW(SPI_CHANNEL, rawData, BYTE_len);
+        printf("\n%02X %02X %02X %02X", rawData[0], rawData[1], rawData[2], rawData[3]); 
+        //fflush(stdout);
+        //printf("\n");
+        count=(rawData[0]*pow(16, 4))+(rawData[1]*pow(16, 2))+(rawData[2]*pow(16, 0));
         
-        
-        delay(500);
+        //speed=100*(count-count_delayed);
+        //printf("\r%lf", count); 
+        //fflush(stdout);
+        count_delayed=count;
+        //printf("\n");
+        sleep(0.5);
     }
        
     return 0;
     
-    
-    
-
-    
-/*
-    pinMode(ENC_PIN_1A, INPUT);
-    pinMode(ENC_PIN_1B, INPUT);
-    pinMode(ENC_PIN_2A, INPUT);
-    pinMode(ENC_PIN_2B, INPUT);
-*/
 }
\ No newline at end of file

motor.c

@@ -31,7 +31,7 @@ int main(int argc, char const *argv[])
 
     printf("There we go !\n");
 
-    delay(2000);
+    delay(10000);
 
     printf("And we stop\n");