_SKU_SEN0238_DE LIDAR_TF01_One_ _Way_RangeFinder_Lidar - jimaobian/DFRobotWikiCn GitHub Wiki

/*!
   @file SEN0238.ino
   @brief DE-LIDAR TF01 One - Way RangeFinder Lidar
   @n [Get the module here]()
   @n This is an example of a distance measurement.
   @n [Connection and Diagram](http://wiki.dfrobot.com.cn/index.php?title=(SKU:SEN0238)DE-LIDAR_TF01_One_-_Way_RangeFinder_Lidar#.E6.A0.B7.E4.BE.8B.E4.BB.A3.E7.A0.81)

   @copyright  [DFRobot](http://www.dfrobot.com), 2017
   @copyright GNU Lesser General Public License

   @author [lijun]([email protected])
   @version  V1.0
   @date  2017-05-02
*/

#include <Wire.h>
#include <DFRobot_RGBLCD.h>


unsigned int Distance = 0, Distance1 = 0;  //距离
unsigned int Strength = 0, Strength1 = 0;  //强度，值越大，距离越精确
unsigned int lcd_r = 0, lcd_g = 0, lcd_b = 0;  //rgb显示屏彩色参数
unsigned char buffer_RXD[9] = {0}; //串口接收数据
unsigned char CR = 0;
char cha = 0;
unsigned long delaytime = 0, lighttime = 0;//检测距离时间，rgb灯光变换时间

DFRobot_RGBLCD lcd(16, 2); //parameter1:LCD address; parameter2:RGB address; 16 characters and 2 lines of show

void setup()
{
  Serial1.begin(115200);
  lcd.init();  //初始化rgb显示屏
  delaytime = millis();  //取系统当前时间
  lighttime = millis();  //
  lcd.setCursor(0, 0);//设置点（0,0）开始显示Dis
  lcd.print("Dis:");
  lcd.setCursor(0, 1);//设置点（0,1）开始显示Str
  lcd.print("Str:");
  lcd.setRGB(255, 255, 000);//rgb屏显示黄色背光
}

void loop()
{
  lcd_r = random(256);  //随机取r值
  delayMicroseconds(10);  //让随机数有一定变化，但也有可能相同
  lcd_g = random(256);  //随机取g值
  delayMicroseconds(10);  //
  lcd_b = random(256);  //随机取b值
  if (millis() - lighttime > 3000)  //等待3秒中变化一次背光颜色
  {
    lcd.setRGB(lcd_r, lcd_g, lcd_b);  //
    lighttime = millis();   //取系统当前时间
  }

  if (millis() - delaytime > 100)//等待0.1秒得到检测的数据
  {
    while (Serial1.available())  //检测是否有串口数据
    {
      for (int i = 0; i < 9; i++)   //读取检测数据
      {
        cha = Serial1.read();
        buffer_RXD[i] = (char)cha;
        //delay(2);
      }

      CR = 0;
      for (int i = 0; i < 8; i++)  //求和
      {
        CR += buffer_RXD[i];
      }

      if (CR == buffer_RXD[8])   //校验
      {
        Strength = (buffer_RXD[5] << 8) + buffer_RXD[4];
        Strength1 = Strength;
        Distance = ( buffer_RXD[3] << 8 ) + buffer_RXD[2];
        Distance1 = Distance;
      }
      else  //
      {
        Distance = Distance1;
        Strength = Strength1;
      }
    }
    delaytime = millis();

    lcd.setCursor(5, 0);  //
    lcd.print(Distance / 1000);   //显示检测距离
    lcd.print(Distance / 100 % 10);   //
    lcd.print('.');
    lcd.print(Distance / 10 % 10);
    lcd.print(Distance % 10);
    lcd.print(" ");
    lcd.print("m");

    lcd.setCursor(5, 1);
    lcd.print(Strength / 10000);  //显示强度大小
    lcd.print(Strength / 1000 % 10);
    lcd.print(Strength / 100 % 10);
    lcd.print(Strength / 10 % 10);
    lcd.print(Strength % 10);
  }
}

/*!
   @file SEN0238_uart.ino
   @brief DE-LIDAR TF01 One - Way RangeFinder Lidar
   @n [Get the module here]()
   @n This is an example of a distance measurement.
   @n [Connection and Diagram](http://wiki.dfrobot.com.cn/index.php?title=(SKU:SEN0238)DE-LIDAR_TF01_One_-_Way_RangeFinder_Lidar#.E6.A0.B7.E4.BE.8B.E4.BB.A3.E7.A0.81)

   @copyright  [DFRobot](http://www.dfrobot.com), 2017
   @copyright GNU Lesser General Public License

   @author [lijun]([email protected])
   @version  V1.0
   @date  2017-05-02
*/

unsigned int Distance = 0, Distance1 = 0;
unsigned int Strength = 0, Strength1 = 0;

unsigned char buffer_RXD[9] = {0}; //串口接收数据
unsigned char CR = 0;
char cha = 0;
unsigned long delaytime = 0;


void setup()
{
  Serial.begin(115200);  //
  Serial1.begin(115200);  //
  delaytime = millis();  //取系统当前时间
}

void loop()
{
  if (millis() - delaytime > 100)  //等待0.1秒得到检测的数据
  {
    while (Serial1.available())  //检测是否有串口数据
    {
      for (int i = 0; i < 9; i++)  //读取检测数据
      {
        cha = Serial1.read();
        buffer_RXD[i] = (char)cha;
        //delay(2);
      }

      CR = 0;
      for (int i = 0; i < 8; i++)  //求和
      {
        CR += buffer_RXD[i];
      }

      if (CR == buffer_RXD[8])  //校验
      {
        Strength = (buffer_RXD[5] << 8) + buffer_RXD[4];
        Strength1 = Strength;
        Distance = ( buffer_RXD[3] << 8 ) + buffer_RXD[2];
        Distance1 = Distance;
      }
      else  //
      {
        Distance = Distance1;
        Strength = Strength1;
      }
    }
    delaytime = millis();  //
    //显示检测
    Serial.println("-------------------------DISPLAY--------------------------");
    Serial.print("Distance: ");
    Serial.print(Distance,DEC);
    Serial.print(" cm");
    Serial.print("                ");
    Serial.print("Strength: " );
    Serial.print(Strength,DEC );
    Serial.println();
  }
}