Help with LIDAR (Java)

saadkar · February 16, 2017, 4:41pm

We tried writing code for LIDAR Lite v3, but we are only getting values of 0 for distance. Can anybody help with this?

gerthworm · February 16, 2017, 5:56pm

Here’s our java code from two years ago for what I believe was a V2 (the I2C protocol looks largely the same):

RobotCasserole1736/CasseroleLib/blob/master/java/src/org/usfirst/frc/team1736/lib/Sensors/pulsedLightLIDAR.java

package org.usfirst.frc.team1736.lib.Sensors;


/*
 *******************************************************************************************
 * Copyright (C) 2017 FRC Team 1736 Robot Casserole - www.robotcasserole.org
 *******************************************************************************************
 *
 * This software is released under the MIT Licence - see the license.txt
 *  file in the root of this repo.
 *
 * Non-legally-binding statement from Team 1736:
 *  Thank you for taking the time to read through our software! We hope you
 *   find it educational and informative! 
 *  Please feel free to snag our software for your own use in whatever project
 *   you have going on right now! We'd love to be able to help out! Shoot us 
 *   any questions you may have, all our contact info should be on our website
 *   (listed above).
 *  If you happen to end up using our software to make money, that is wonderful!
 *   Robot Casserole is always looking for more sponsors, so we'd be very appreciative

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Additionally, here’s a C++ implementation that communicates with a V3 (straight from the manufacturer): https://github.com/garmin/LIDARLite_v3_Arduino_Library/blob/master/src/LIDARLite.cpp

Per line 169 in that API, it looks like there are three steps needed to read:

Initiate the read (write to 0x03 or 0x04)
Wait for read to complete (timeout or poll 0x01)
read and transform result (read two bytes from 0x0f and 0x10, then concatenate into the 16 bit result)

If you have code, I might be able to help more.

FishOfPitt116 · February 19, 2017, 6:04pm

We have tried this code previously, it is not working. If anyone else has any ideas, please contribute! Help needed!:yikes:

FishOfPitt116 · February 19, 2017, 7:52pm

Thanks to everyone for your help, LIDAR Code is now complete!!!

SousVide · November 15, 2017, 6:01pm

Hi Fish, What was the trick to getting it to work… or what was the problem ?