bool
Volkslogger::SendCommandWriteBulk(Port &port, OperationEnvironment &env,
Command cmd,
const void *data, size_t size)
{
if (!SendCommand(port, env, cmd, 0, 0) || !WaitForACK(port, env))
return false;
env.Sleep(100);
return WriteBulk(port, env, data, size) && WaitForACK(port, env);
}
int Lidar::GetDistance()
{
while(Write(0, 0x04))
{
Wait(.002);
}
uint8_t distanceAddress=0x8f;
uint16_t distance;
uint8_t distArr[2];
Wait(.02);
bool failure=false;
while(!failure){
if(!WriteBulk(&distanceAddress,1))
{
Wait(0.002);
failure=!ReadOnly(2, (uint8_t*)distArr);
distance = (distArr[0] * 256) + distArr[1];
}
Wait(.002);
}
return((int) distance);
}
