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Implement process scan

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michaelpivato
2020-07-06 12:25:12 +09:30
parent c1f09627eb
commit a8b9bf06e4
1 changed files with 14 additions and 2 deletions
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14
Sources/SwiftRPLidar/SwiftRPLidar.swift
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@@ -35,11 +35,23 @@ struct SwiftRPLidar {
var text = "Hello, World!" var text = "Hello, World!"
} }
func processScan(raw: Data){ func processScan(raw: Data) throws -> LidarScan {
let newScan = raw[0] & 0b1
let inversedNewScan = (raw[0] >> 1) & 0b1
let quality = raw[0] >> 2
if (newScan == inversedNewScan){
}
if ((raw[1] & 0b1) != 1) {
}
let angle = (raw[1] >> 1) + (raw[2] << 7) / 64
let distance = raw[3] + (raw[4] << 8) / 4
return LidarScan(newScan: newScan, quality: quality, angle: angle, distance: distance)
} }
struct LidarScan{ struct LidarScan{
var newScan: Bool
var quality: Float var quality: Float
var angle: Float var angle: Float
var distance: Float var distance: Float