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Registered Member #2431
Joined: Tue Oct 13 2009, 09:47PM
Location: Chico, CA. USA
Posts: 5639
I have two XV-11 lidar devices in my possession!!!
im wanting to post a full analysis of the device, what it can and cant do, capabilities and so on. I plan to mate the XV-11 to my bi-copter drone eventually. the XV-11 will be run through a STM32F4, and will be used to generate SLAM and maze navigation patterns. Having real true lidar, (not that ultrasound crap) opens up all new possibilities for human-remote-piloted and autonomous vehicles, with modern microprocessing such as the STM32, PIC and various other microcontroller platforms, opportunities for the creative mind just abound. And being able to avoid USB is a huge advantage. The Hykoyo Lidars are technically superior, but require USB connection to PC/x86 driver capable systems.
supposedly it can operate up to 10 Hz in rotation, but ive only seen 5Hz actual. with a angular resolution of 1 Degree, that means a data throughput of 5 x 360 = 1800 unique points per second. distance resolution increments im not sure about yet.
External Supporting links: XV-11 Hacking
Detail: sensor : DLIS-2k, Panavision/Dynavision [2048 pixels] Laser: IR, vertical line generating motor: looks like a common mubuchi, not a real servo. (runs open loop) mass: 192 grams comm: 3.3v normal FTDI serial interface, data mostly RX (from Lidar to navigating device) resolution: 1 deg. rotation: 5 turns per second distance resolution: supposedly in mm. Min: 15 centimeters Max: 6 meters *though the motor is open loop, there is still a rotation speed window, below or above which data will be gated off.
there is a list of API commands, but at least one command, or group of commands can permanently brick your lidar, so until I figure that out id like to avoid random tinkering.
Registered Member #2431
Joined: Tue Oct 13 2009, 09:47PM
Location: Chico, CA. USA
Posts: 5639
Woooo Hooooo!
I have the 3.3V version of the FTDI serial interface, from SparkFun corp.
so ill be starting some of the simpler operations today, ill first get the serial interface working, (to my laptop via a serial terminal program.) then ill get the motor RPM right, once these two things are done, ill start posting the ouput captured.
Registered Member #2431
Joined: Tue Oct 13 2009, 09:47PM
Location: Chico, CA. USA
Posts: 5639
im wanting to get the wiring all connected and the following sources are useful:
LiDAR wiki Dave's XV-11 wiki
im going to try the Parallax serial terminal, or possibly Terra Term.
the following quote from Dave's wiki :
LIDAR Connections
The Laser Distance Scanner connects to the motherboard through two JST connectors. The two pin connector terminating the red/black wire pair connects directly to the motor. On my cheap and ancient bench supply I get 300 RPM (5 rotations per second) with a supply of around 3.2V and a little over 60mA. (Don't take those meter readings too seriously -- that's ballpark.) The robot PWM's the motor supply and uses a control loop to adjust the RPM, but for quick experiments you can simply use a battery and a pot.
The serial connection is a 4 pin JST connector, wired as follows: black - ground orange - TX data brown - RX data red - 3v3
The LDS starts pumping out data as soon as it is spinning, so you don't need to wire up TX data and you still have a perfectly functional LIDAR. If you do connect TX data, you can send commands to the LDS.
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XV-11 LiDAR module, (Technical Description and Evaluation)
