In this post, I will show how to pull data from a 2D Lidar (Piccolo XV-11) using a Teensy 3.2, and a Raspberry Pi.
There are quite a few examples well documented showing hwo to connect the Lidar to a Raspberry Pi (Thobias), or to a Arduino. There are code examples out there.
To interface the Lidar, we need:
-
DC motor: Power : ~3V. (Red/Black) According to the specs, the motor must spin at 300 RPM
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the electronic module Powered at +5V (Red/Black). To confirm the number, remove the cap of the unit and check the board where the red wire is soldered. Data line: serial TX (Orange)
- Typical data output
FA C3 E3 48 34 3 98 0 1E 3 CB 0 12 ....
FA:BE:19:49:FF: 4:A :0 :35:80:0 :0 :35:80:0 :0 :25:80:0 :0 :4F:1B
FA:BF:E3:48:25:80:0 :0 :35:80:0 :0 :CB:9 :8 :0 :25:80:0 :0 :16:43
FA:C0:E3:48:35:80:0 :0 :35:80:0 :0 :35:80:0 :0 :35:80:0 :0 :71:7E
FA:C1:E3:48:35:80:0 :0 :35:80:0 :0 :B4:3 :1C:0 :95:3 :8D:0 :21:22
FA:C2:E3:48:90: 3:99:0 :92: 3:BA:0 :5F:3 :63:0 :4B:3 :AB:0 :87:6A
[spe] [Data 1 ][Data 2 ][data 3 ][data 4 ]
Credits: http://www.tobias-weis.de/neato-xv-laser-scanner-lidar/
https://www.getsurreal.com/product/xv-lidar-controller-v1-2/ https://github.com/getSurreal/XV_Lidar_Controller/blob/master/XV_Lidar_Controller.ino
https://github.com/bombilee/NXV11/blob/master/XV-11_test_python/XV-11_test.py