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xv11lidar-arduino

Arduino/Teensy library for non-blocking communication with XV11 lidar.

Hardware

Library needs:

  • XV11 lidar (hardware)
  • pwm motor controller

Purpose

  • speed motor control
  • non-blocking communication
  • precise timestamps

State

Functional:

  • motor PID
  • decoding packets
  • precise timestamping on first packet byte

Dependencies

xv11lidar-arduino uses Arduino-PID-Library.

Installation

  • in Arduino IDE Sketch -> Include Library -> Manage Libraries... -> PID -> Install
  • copy or clone xv11lidar-arduino directory to your sketchbook libraries directory

Using

For real use see cave-crawler-mcu

#include <xv11lidar.h>

const int PWM_PIN = 35;
const int RPM=250;

//which serial to use (Teensy), which pin for PWM
XV11Lidar lidar(Serial5, PWM_PIN );
XV11Packet packet;

void setup()
{
  lidar.setup(RPM);
}

void loop()
{
  bool got_packet;
  
  got_packet=lidar.processAvailable(&packet);
  lidar.applyMotorPID();

  if(got_packet)
  {
    //do something with the packet
  }
}

License

Library is licensed under Mozilla Public License, v. 2.0

This is similiar to LGPL but more permissive:

  • you can use it as LGPL in prioprietrary software
  • unlike LGPL you may compile it statically with your code

Like in LGPL, if you modify this library, you have to make your changes available. Making a github fork of the library with your changes satisfies those requirements perfectly.