ca avance

LiDAR/LIDAR.cpp

@@ -40,6 +40,22 @@ int main(int argc, char const *argv[])
     std::vector<LidarScanMode> scanmode;
     lidar->getAllSupportedScanModes(scanmode);
 
+    sl_lidar_response_measurement_node_hq_t nodes[8192];
+    size_t nodeCount = sizeof(nodes)/sizeof(sl_lidar_response_measurement_node_hq_t);
+    res = lidar->grabScanDataHq(nodes, nodeCount, 0);
+
+    if (IS_FAIL(res))
+    {
+        fprintf(stderr, "Failed to grab data\n");
+    }
+
+    for (size_t i = 0; i < nodeCount; i++)
+    {
+        printf("mesure %i : theta = %.3f°, dist = %.3f m",i,nodes[i].angle_z_q14 * 90.f / (1 << 14), nodes[i].dist_mm_q2 / 1000.f / (1 << 2));
+    }
+    
+    lidar->stop();
+    lidar->disconnect();
 
 
     // Delete the instances

encoder.cpp

@@ -44,15 +44,14 @@ int main(int argc, char const *argv[])
            //printf("%02X \n", rawData[i]); 
         //}
 
-    while(1) { 
+   while(1) { 
         int result = wiringPiSPIDataRW(SPI_CHANNEL, rawData, BYTE_len);
-        printf("\n%d %d %d %d", rawData[0], rawData[1], rawData[2], rawData[3]); 
-        //fflush(stdout);
+        printf("\r%d %d %d %d", rawData[0], rawData[1], rawData[2], rawData[3]); 
+        fflush(stdout);
         //printf("\n");
-        count=(rawData[0]*pow(16, 2))+(rawData[1]*pow(16, 0));
-        clock_count=(rawData[2]*pow(16, 2))+(rawData[3]*pow(16, 0));
+        count=(rawData[0]*pow(16, 4))+(rawData[1]*pow(16, 2))+(rawData[2]*pow(16, 0));
         
-        speed=clock_count*(2*3.1415/res)*(count-count_delayed);
+        speed=freq*(2*3.1415/res)*(count-count_delayed);
         //printf("\r%lf", count); 
         //fflush(stdout);
         count_delayed=count;
@@ -64,21 +63,5 @@ int main(int argc, char const *argv[])
     
 }
 
-/*
-while(1) { 
-        int result = wiringPiSPIDataRW(SPI_CHANNEL, rawData, BYTE_len);
-        printf("\n%d %d %d %d", 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));
-        
-        speed=freq*(2*3.1415/res)*(count-count_delayed);
-        //printf("\r%lf", count); 
-        //fflush(stdout);
-        count_delayed=count;
-        //printf("\n");
-        //sleep(0.5);
-    }
 
-    */
    
\ No newline at end of file

rplidar_sdk-master/mak_common.inc

@@ -72,7 +72,7 @@ $(APP_TARGET): $(OBJ) $(EXTRA_OBJ) $(SDK_TARGET)
 	@$(MKDIR) `dirname $@`
 	@echo " LD   $@"
 	$(CMD_HIDE)$(CC) $(ALL_CXXFLAGS) -o $@ $^ $(LDFLAGS)  
-	mv $(BUILD_ROOT)/output/$(BUILD_TARGET_PLATFORM)/$(OUTPUT_BUILD_PREFIX)/lidar $(BUILD_ROOT)/../LiDAR
+	mv $(BUILD_ROOT)/output/$(BUILD_TARGET_PLATFORM)/$(OUTPUT_BUILD_PREFIX)/LiDAR $(BUILD_ROOT)/../LiDAR
 
 
 #