int main() {
lidar_init();
static int k = 1;
int i;
for (i = 0; i < 100; i++) {
lidar_fp = fopen("/root/lidarProfileTest", "w");
if (urg_start_measurement(&lidar, URG_DISTANCE, 1, 0) < 0) {
printf("ERROR: unable to start measurement on LIDAR\n");
}
length_data_size = urg_get_distance(&lidar, length_data, NULL);
if (length_data_size <= 0) {
printf("ERROR: unable to get distance data from LIDAR\n"); }
fprintf(lidar_fp, "%i\t%0.2f", k++, 1.00);
int i;
for (i = 0; i < length_data_size; i++) {
fprintf(lidar_fp, "\t%ld", length_data[i]);
}
fprintf(lidar_fp, "\n");
fclose(lidar_fp);
}
return 0;
}
int main(int argc,char *argv[])
{
int fd, res, i, del;
unsigned char st, ver;
// First arg is delay in ms (default is 1000)
if (argc > 1)
del = atoi(argv[1]);
else del=1000;
fd = lidar_init(false);
if (fd == -1) {
printf("initialization error\n");
}
else {
for (i=0;i<10000;i++) {
res = lidar_read(fd);
st = lidar_status(fd);
//ver = lidar_version(fd);
printf("%3.0d cm \n", res);
//lidar_status_print(st);
//delay(del);
}
}
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "lidarlite_node");
ros::NodeHandle n;
ros::Publisher lidar_pub = n.advertise<lidar_lite_ros::Lidarlite>("lidar_distance", 1);
ros::Rate loop_rate(20);
int fd;
int value;
unsigned char status;
lidar_lite_ros::Lidarlite msg;
fd = lidar_init(false);
if (fd == -1) {
printf("initialization error\n");
}
while (ros::ok())
{
value = lidar_read(fd);
status = lidar_status(fd);
ROS_INFO("%3.0d cm", value);
msg.distance = value;
lidar_pub.publish(msg);
ros::spinOnce();
loop_rate.sleep();
}
return 0;
}
int main(int argc,char *argv[])
{
int fd, res, i, del;
unsigned char st, ver;
const double cm_to_inch = 2.54; // (0.39);
// First arg is delay in ms (default is 1000)
if (argc > 1)
del = atoi(argv[1]);
else del=1000;
float cm, inches;
int feet;
fd = lidar_init(false);
if (fd == -1) {
printf("initialization error\n");
}
else {
res = lidar_read(fd);
st = lidar_status(fd);
//ver = lidar_version(fd);
cm = (float)res;
inches = (float)res / cm_to_inch;
feet = inches/12;
//inches = inches-(feet*12);
//printf("%.1f cm = %d feet, %.1f inches\n", cm, feet, inches);
printf("%3.0d \n", res);
//lidar_status_print(st);
//delay(del);
}
}
//--------------------------------------------------------------
void ofApp::setup(){
ofSetVerticalSync(false);
//ofSetFrameRate(10000)
counter = 0;
blinkTimer = ofGetSystemTimeMicros();
logTimer = ofGetElapsedTimeMillis();
// Setup GPIOs
gpio15 = new GPIO("15");
gpio15->export_gpio();
gpio15->setdir_gpio("out");
gpio15->setval_gpio("0");
gpio15outState = false;
gpio21 = new GPIO("21");
gpio21->export_gpio();
gpio21->setdir_gpio("out");
gpio21->setval_gpio("0");
gpio21outState = false;
// PWM smoothing parameters
nSamplesToSmooth = 0;
maxSamplesToSmooth = 1; // determines smoothing
smoothPwm = 0; // smoothed PWM value
minDist = 30; //cm
maxDist = 30*20; //cm
// Sound output
pitchSound.loadSound("sounds/INT18PIPES1.mp3");
pitchSound.setVolume(0.3f);
pitchSound.setMultiPlay(false);
volSound.loadSound("sounds/Tp10.wav");
volSound.setVolume(0.3f);
volSound.setMultiPlay(true);
ofSoundSetVolume(1.0f);
volBend = true;
pitchBend = false;
// Init I2C
fd = lidar_init(false);
if (fd == -1)
{
printf("initialization error\n");
ofApp::exit();
}
// Get the host name
int z;
char buf[32];
z = gethostname(buf,sizeof buf);
if ( z != -1 ) {
hostname = string(buf);
//printf("host name = '%s'\n",buf);
cout << "host name = " << hostname << endl;
} else {
cout << "host name unknown" << endl;
hostname = "unknown";
}
// Write initialization to the log
string logFileName = "/logs/livestream/livestream_" + hostname + ".log";
ofstream mFile;
mFile.open(logFileName.c_str(), ios::out | ios::app);
mFile << getDateTimeString() << ",INITILIZATION" << endl;
mFile.close();
nSensors = tempSensor.listDevices();
}
