51 lines
1004 B
Swift
51 lines
1004 B
Swift
import foundation
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struct Constants{
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static let SYNC = 0xA5
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static let SYNC2 = 0x5A
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static let GET_INFO = 0x50
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static let GET_HEALTH = 0x52
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static let STOP = 0x25
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static let RESET = 0x40
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static let SCAN = 0x20
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static let FORCE_SCAN = 0x21
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static let DESCRIPTOR_LEN = 7
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static let INFO_LEN = 20
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static let HEALTH_LEN = 3
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static let INFO_TYPE = 4
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static let HEALTH_TYPE = 6
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static let SCAN_TYPE = 129
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static let MAX_MOTOR_PWM = 1023
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static let DEFAULT_MOTOR_PWM = 660
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static let SET_PWM_BYTE = 0xF0
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}
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enum HEALTH_STATUSES {
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case GOOD, WARNING, ERROR
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}
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struct SwiftRPLidar {
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var text = "Hello, World!"
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}
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class RPLidar{
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private var serialPort: String
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private var timeout
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private var motor
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private var baudrate
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init?(port: String, baudrate: Int = 115200, timeout: Int = 1){
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self.serialPort = port
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self.baudrate = baudrate
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self.timeout = timeout
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}
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func connect(){
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}
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} |