目錄

• 激光雷達定位
• • 一、代碼實現
  • 二、接線圖

激光雷達定位

一、代碼實現

通過兩個TF-mini激光雷達實現區域定位（arduino實現）

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 port(TX, RX); 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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