Joseph Bradshaw
Test program for using the Hokuyo URG-04LX LIDAR with the mbed.
Hokuyo Library
This is an example of using the Hokuyo library for the Hokuyo URG-04LX 2 dimensional LIDAR (range finder) with the mbed.
Above is the Hokuyo attached to the mbed WSE Project board (https://developer.mbed.org/users/jebradshaw/code/mbedWSEsbc/). I'm using a xbee form factor RS-232 level converter with a male DB9 (DTE). The on board 5V 1.5A OKI-78SR-5/1.5-W36-C switching regulator is more then sufficient for powering the LIDAR.
O'scope capture of the serial data. This is using a cluster size of 3, about a degree resolution at 19200 baud gives an update rate of about 3.3Hz.
Above is a screen capture of the data being transmitted to Tera-terminal.
include the mbed library with this snippet
// J Bradshaw 20160304 Hokuyo Lidar interface library example
// cluster - groups together points, each point is .351 degrees
#include "mbed.h"
#include "hokuyo.h"
DigitalOut led1(LED1);
Hokuyo lidar(p13, p14); // tx, rx for Xbee header (RS232 board for Hokuyo)
Serial pc(USBTX, USBRX);
int main() {
float scan_width = 180.0; //scan X number of degrees
int cluster = 3; //~degree 1 accuracy with every 3 samples at .351/sample
pc.baud(921600);
if(!lidar.Init())
pc.printf("Hokuyo Init successful\r\n");
else{
pc.printf("Error Initializing Hokuyo!\r\n");
wait(10);
}
while(1) {
if(!lidar.Read_Scan(scan_width, cluster)){ //scan 30deg wide, cluster of 5 points
//pc.printf("total points read = %d\r\n\r\n", lidar.numPts);
for(int i=0;i<lidar.numPts;i++){
pc.printf("%5.2f %05d\r\n", lidar.angle[i], lidar.dist_mm[i]);
wait(.0001);
}
led1=!led1;
}
else
pc.printf("Error Scanning Hokuyo!\r\n");
}
}
Revision 0:e7c283192c1c, committed 2016-03-04
- Comitter:
- jebradshaw
- Date:
- Fri Mar 04 16:58:25 2016 +0000
- Commit message:
- Example program for using the Hokuyo URG-04LX 2-dimensional laser range finder
Changed in this revision
diff -r 000000000000 -r e7c283192c1c HOKUYO.lib --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/HOKUYO.lib Fri Mar 04 16:58:25 2016 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/users/jebradshaw/code/HOKUYO/#a325ad337940
diff -r 000000000000 -r e7c283192c1c main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Mar 04 16:58:25 2016 +0000
@@ -0,0 +1,35 @@
+// J Bradshaw 20160304 Hokuyo Lidar interface library example
+// cluster - groups together points, each point is .351 degrees
+#include "mbed.h"
+#include "hokuyo.h"
+
+DigitalOut led1(LED1);
+Hokuyo lidar(p13, p14); // tx, rx for Xbee header (RS232 board for Hokuyo)
+Serial pc(USBTX, USBRX);
+
+int main() {
+ float scan_width = 180.0; //scan X number of degrees
+ int cluster = 3; //~degree 1 accuracy with every 3 samples at .351/sample
+
+ pc.baud(921600);
+
+ if(!lidar.Init())
+ pc.printf("Hokuyo Init successful\r\n");
+ else{
+ pc.printf("Error Initializing Hokuyo!\r\n");
+ wait(10);
+ }
+
+ while(1) {
+ if(!lidar.Read_Scan(scan_width, cluster)){ //scan 30deg wide, cluster of 5 points
+ //pc.printf("total points read = %d\r\n\r\n", lidar.numPts);
+ for(int i=0;i<lidar.numPts;i++){
+ pc.printf("%5.2f %05d\r\n", lidar.angle[i], lidar.dist_mm[i]);
+ wait(.0001);
+ }
+ led1=!led1;
+ }
+ else
+ pc.printf("Error Scanning Hokuyo!\r\n");
+ }
+}
diff -r 000000000000 -r e7c283192c1c mbed.bld --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Fri Mar 04 16:58:25 2016 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/87f2f5183dfb \ No newline at end of file