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北醒TF-mini激光雷达实现定位
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目錄
激光雷達定位
一、代碼實現(xiàn)
通過兩個TF-mini激光雷達實現(xiàn)區(qū)域定位（arduino實現(xiàn)）
代碼如下：
#include <SoftwareSerial.h> typedef struct {int distance
;int strength
;boolean receiveComplete
;
}TFmini
;TFmini TFminiOne
= {0, 0, false
};
TFmini TFminiTwo
= {0, 0, false
};
SoftwareSerial
portOne(2, 2);
SoftwareSerial
portTwo(3, 3); void getTFminiData(SoftwareSerial
* port
, TFmini
* tfmini
) {port
->listen();while(tfmini
->receiveComplete
== false
) { static char i
= 0;char j
= 0;int checksum
= 0; static int rx
[9];if(port
->available()) { rx
[i
] = port
->read();if(rx
[0] != 0x59) {i
= 0;} else if(i
== 1 && rx
[1] != 0x59) {i
= 0;} else if(i
== 8) {for(j
= 0; j
< 8; j
++) {checksum
+= rx
[j
];}if(rx
[8] == (checksum
% 256)) {tfmini
->distance
= rx
[2] + rx
[3] * 256;tfmini
->strength
= rx
[4] + rx
[5] * 256;tfmini
->receiveComplete
= true
;}i
= 0;} else {i
++;} } }
}void setup() {Serial
.begin(115200);portOne
.begin(115200);portTwo
.begin(115200);
}void loop() {static unsigned long lastTime
= millis();static unsigned int count
= 0;static unsigned int frequency
= 0;getTFminiData(&portOne
, &TFminiOne
);getTFminiData(&portTwo
, &TFminiTwo
);if(TFminiOne
.receiveComplete
== true
&& TFminiTwo
.receiveComplete
== true
) {++count
;if(millis() - lastTime
> 999) {lastTime
= millis();frequency
= count
;count
= 0;} Serial
.print("x=");Serial
.print(TFminiOne
.distance
);Serial
.print("cm\t");Serial
.print(",");Serial
.print("y=");Serial
.print(TFminiTwo
.distance
);Serial
.println("cm");TFminiOne
.receiveComplete
= false
;TFminiTwo
.receiveComplete
= false
;}}
二、接線圖
總結
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