alexistm / lidarenhanced Goto Github PK

Filter the output values to have a really simplified program with a high acquisition rate.

• Average on N data (Moving average -done every cycle- or average every N data ?)
• Prediction aware : x = x[-1]*x[-1]dt

To avoid having to read blindly the data from the Controller (distance, statuses, signal_strenghs) we should add a configurable callback the user implements and give to the controller.

• One callback for each laser : callback(self); and for the velocity : callback(self, dt);
• Global callback when all lasers have a data : callback(... ?)

Add the PWM polling without blocking architecture like the NewPing library

The #define has to be used in the code

// READ Registers
// Those are registers we only READ from
#define STATUS_REGISTER           0x01
#define SIGNAL_STRENGTH_REGISTER  0x0e
#define ERROR_REGISTER            0x40
#define MEASURED_VALUE_REGISTER   0x8f
#define READ_SERIAL_REGISTERS     0x96

// WRITE Registers
// Those are register we only WRITE on
#define CONTROL_REGISTER          0x00
#define SERIAL1_REGISTER          0x18
#define SERIAL2_REGISTER          0x19
#define ADDRESS_REGISTER          0x1a
#define PARTY_LINE_REGISTER       0x1e
#define COMMAND_REGISTER          0x40
#define SCALE_VELOCITY_REGISTER   0x45
#define VELOCITY_MODE_REGISTER    0x04
#define OFFSET_REGISTER           0x13

// Values
#define INITIATE_VALUE            0x04
#define PARTY_LINE_ON             0x00
#define PARTY_LINE_OFF            0x08
#define VELOCITY_MODE_DATA        0xa0

// Busyflag from STATUS_REGISTER
#define BUSYFLAG_READY_VALUE      0x00

We have to check why the controller sometimes stops for no apparent reason.

I am studying your code and it looks nice! My target platform is c++ on the Espressif ESP32 WROVER KIT https://www.adafruit.com/product/3384[](url)

Please confirm that in the statement below:

LZ1.begin(Z1_LASER_EN, Z1_LASER_PIN, Z1_LASER_TRIG, Z1_LASER_AD, 2, DISTANCE, 'A');

Z1_LASER_EN is the i2c SDA pin (data) and
Z1_LASER_PIN is the i2c SCL pin (clock).

When I become more literate, I will be happy to assist with simple velocity codes.
Sincerely

Kent Smith

Hi, I am looking through your cool project because the official lidar API have some problems when I use it.
In your OneLidar example,I have two questions:
1): It just define some pin for PWM method like Trigger pin and Mode pin, but when it receive distance data just use I2C method.
2): the LIDAR_TYPE not used for that example, I know it was declared as I2C_TYPE first, but not used in all the loop.
Maybe I misunderstanding something, please give me some suggestions. thanks for sharing your project again.

Velocity measurements change the laser mode.

To make Velocity and Distance measurements, we need to switch mode.

Or else, we could simply measure velocity with our own algorithm, storing N positions and getting instantaneous speed directly.