[WIP] Lidar

.gitignore

@@ -6,3 +6,6 @@ doc.fls
 doc.log
 doc.out
 .DS_Store
+
+__pychache__
+.pyc

code/arduino/lidar/lidar.cpp

@@ -0,0 +1,12 @@
+#include "lidar.h"
+
+Lidar::Lidar(): { }
+
+Lidar::get_distance_cm(float volts) {
+    measured_value = (0,008271 + 939,6*volts)/(1 - 3,398*volts + 17,339*volts^2);
+    return measured_value;
+}
+
+Lidar::get_pin() {
+    return analog_pin;
+}

code/arduino/lidar/lidar.h

@@ -0,0 +1,15 @@
+#ifndef LIDAR_H
+#define LIDAR_H
+
+#include <Arduino.h>
+
+class Lidar {
+    public:
+        Lidar();
+        static float get_distance_cm(float volts);
+
+    private:
+        static const int analog_pin = 0;
+};
+
+#endif

code/arduino/lidar/lidar.ino

@@ -0,0 +1,26 @@
+#include <Wire.h>
+#include "lidar.h"
+
+const byte SLAVE_ADDRESS = 0x07;
+
+Lidar lidar();
+
+void setup() {
+    Serial.begin(9600);
+
+    Wire.begin(SLAVE_ADDRESS);
+    Wire.onReceive(receive_i2c_data);
+    Wire.onRequest(send_i2c_data);
+}
+
+void loop() {
+    analogRead(lidar.get_pin());
+    lidar.get_distance_cm(measured_value);
+    delay(60)
+}
+
+void receive_i2c_data(int byteCount) {
+}
+
+void send_i2c_data() {
+}

code/raspberrypi/lidar.py

@@ -0,0 +1,21 @@
+from i2c import I2C
+from enum import IntEnum
+
+class Command(IntEnum):
+    Measure = 1
+    Start = 2
+    Stop = 3
+
+class Lidar(I2C):
+    def __init__(self, address):
+        super(Lidar, self).__init__(address)
+
+    def measure(self):
+        self.send(Command.Measure)
+        return self.receive()
+
+    def start(self):
+        self.send(Command.Start)
+
+    def stop(self):
+        self.send(Command.Stop)