Joseph Bradshaw
Class Library for Hokuyo URG-04LX Range Finder (using SCIP1 communication specification)
Dependents: mbed_Hokuyo_Example
This library interfaces the mbed to the Hokuyo 2D scanning laser range finder. The interface assumes the user has properly level shifted the serial communication lines to TTL (3.3 volt or 5 volt) levels from the Hokuyo URG-04LX RS-232 level UART. It should also be noted that the device requires about an amp of current on startup, then drops to a little less then a half amp when running. A sufficient 5 volt switching supply is my recommended power source. I am currently working on a function to auto detect the baud rate on initialization and change it to 750000. The heart of the library is a serial read function with timeout, which allows for capturing large data strings (non-ASCII or otherwise) of maximum length by using a state machine without having to alter the MODSERIAL library internal buffer sizes.