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lidar avance

parent 372e43d1
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// #include "./rplidar_sdk-master/sdk/include/sl_lidar.h"
// #include "./rplidar_sdk-master/sdk/include/sl_lidar_driver.h"
#include "../rplidar_sdk-master/sdk/include/rplidar.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;
}
HOME_TREE := ../rplidar_sdk-master/
MODULE_NAME := $(notdir $(CURDIR))
include $(HOME_TREE)/mak_def.inc
CXXSRC += LIDAR.cpp
C_INCLUDES += -I$(CURDIR)/../rplidar_sdk-master/sdk/include -I$(CURDIR)/../rplidar_sdk-master/sdk/src
EXTRA_OBJ :=
LD_LIBS += -lstdc++ -lpthread
all: build_app
include $(HOME_TREE)/mak_common.inc
clean: clean_app
\ No newline at end of file
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