Merge pull request #2 from LightWare-Optoelectronics/auto1

Auto1
LightWare-Optoelectronics · Apr 7, 2017 · 8c706bf · 8c706bf
2 parents 464abde + 053225e
commit 8c706bf
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diff --git a/Arduino/examples/lw20api/lw20api.ino b/Arduino/examples/lw20api/lw20api.ino
@@ -1,4 +1,4 @@
-#include <LW20.h>
+#include "LW20.h"
 
 LW20 lw20(Serial1, 115200);
 
@@ -7,26 +7,59 @@ void setup()
   // Start serial monitor port.
   Serial.begin(115200);
 
+  Serial.println("LW20 API Example");
+
   // Setup LW20.
   lw20.init();
-  lw20.setLaserParams(LW20_MODE_388);
-  lw20.setServoParams(1000, 2000, 10);
-  lw20.setScanParams(-45, 45, 8, 3.5);
-  lw20.setAlarmAParams(0.5, -45, -20);
-  lw20.setAlarmBParams(0.5, 20, 45);
-  lw20.startScan();
+
+  Serial.print("Model: ");
+  Serial.print(lw20.getProductName());
+  Serial.print(" - Firmware: ");
+  Serial.print(lw20.getFirmwareVersion());
+  Serial.print(" - Software: ");
+  Serial.println(lw20.getSoftwareVersion());
+
+  // Print list of parameters.
+  Serial.print("Baud Rate: "); Serial.print(lw20BaudRateToInt(lw20.getComsBaudRate())); Serial.println("bps");
+  Serial.print("Laser Offset: "); Serial.print(lw20.getLaserOffset()); Serial.println("m");
+  Serial.print("Alarm A Distance: "); Serial.print(lw20.getLaserAlarmA()); Serial.println("m");
+  Serial.print("Alarm B Distance: "); Serial.print(lw20.getLaserAlarmB()); Serial.println("m");
+  Serial.print("Alarm Hysteresis: "); Serial.print(lw20.getLaserAlarmHysteresis()); Serial.println("m");
+  Serial.print("Laser Mode: "); Serial.print(lw20ModeSpeedToInt(lw20.getLaserMode())); Serial.println("Hz");
+  Serial.print("Laser Firing: "); Serial.println(lw20.getLaserFiring() ? "Yes" : "No");
+  Serial.print("Background Noise: "); Serial.println(lw20.getLaserNoise());
+  Serial.print("Temperature: "); Serial.print(lw20.getLaserTemperature()); Serial.println(" degrees");
+  Serial.print("Encoding Pattern: "); Serial.println((int)lw20.getLaserEncoding());
+  Serial.print("Lost Confirmations: "); Serial.println(lw20.getLaserLostConfirmations());
+  Serial.print("Gain Boost: "); Serial.println(lw20.getLaserGain());
+  Serial.print("Servo Connected: "); Serial.println(lw20.getServoConnected() ? "Yes" : "No");
+  Serial.print("Servo Scanning: "); Serial.println(lw20.getServoScanning() ? "Yes" : "No");
+  Serial.print("Servo Position: "); Serial.print(lw20.getServoPosition()); Serial.println(" degrees");
+  Serial.print("Servo PWM Min: "); Serial.print(lw20.getServoPwmMin()); Serial.println("us");
+  Serial.print("Servo PWM Max: "); Serial.print(lw20.getServoPwmMax()); Serial.println("us");
+  Serial.print("Servo PWM Scale: "); Serial.print(lw20.getServoPwmScale()); Serial.println("us/degree");
+  Serial.print("Scan Type: "); Serial.println(lw20ScanTypeToStr(lw20.getServoScanType()));
+  Serial.print("Servo Steps: "); Serial.print(lw20.getServoSteps()); Serial.println(" steps/reading");
+  Serial.print("Servo Lag: "); Serial.print(lw20.getServoLag()); Serial.println(" degrees");
+  Serial.print("Scan FOV Low: "); Serial.print(lw20.getServoFovLow()); Serial.println(" degrees");
+  Serial.print("Scan FOV High: "); Serial.print(lw20.getServoFovHigh()); Serial.println(" degrees");
+  Serial.print("Scan Alarm A Low: "); Serial.print(lw20.getServoAlarmALow()); Serial.println(" degrees");
+  Serial.print("Scan Alarm A High: "); Serial.print(lw20.getServoAlarmAHigh()); Serial.println(" degrees");
+  Serial.print("Scan Alarm B Low: "); Serial.print(lw20.getServoAlarmBLow()); Serial.println(" degrees");
+  Serial.print("Scan Alarm B High: "); Serial.print(lw20.getServoAlarmBHigh()); Serial.println(" degrees");
+  Serial.print("Laser Power On: "); Serial.println(lw20.getEnergyPower() ? "Yes" : "No");
+
+  // Basic Setup.
+  lw20.setLaserParams(LWMS_48);
 }
 
 void loop() 
 {
-  // Check alarm status.
-  bool a, b;
-  lw20.checkAlarmStatus(&a, &b);
-
-  Serial.print("Alarm A:");
-  Serial.print(a);
-  Serial.print(" Alarm B:");
-  Serial.println(b);
+  // Get the first pulse distance with no filter.
+  float distance = lw20.getLaserDistance(LWPT_FIRST, LWRF_RAW);
+  float temperature = lw20.getLaserTemperature();
+
+  Serial.print("Distance: "); Serial.print(distance); Serial.print(" - Temp: "); Serial.println(temperature);
 
-  delay(100);
-}
+  delay(25);
+}