Evaluation, characterization, and driving code for the RoboPeak LIDAR unit.
The drivers provided by RoboPeak, used to assist communication with the RP LIDAR unit in our evaluation code. Also hosted on their website at http://rplidar.robopeak.com/sdk
Header file for the RPLidar Arduino Drivers. Used to import methods into Arduino sketches.
Methods for connecting to, sending commands to, and receiving data from the RP LIDAR unit.
A file containing method names, etc. used for context coloring by the Arduino IDE
Files used under the hood by RPLidar.cpp - all will be included in a sketch through RPLidar.h
Demonstrates use of the drivers and was used as a template by us
Expands simple_connect for use with an RGB LED; we prefered to use an Arduino with multiple serial ports.
Overall, we found that the sensor was, as advertised, more precise than %1 of the range throughout its operational range (~0.2-7m). Precision is higher on more reflective surfaces, and a small amount of filtering outliers increased precision from square with range to linear with range.
MATLAB file for generating plot of these results.
Arduino-side file for reading and sorting the data from a RoboPeak LIDAR unit connected to an Arduino.
Computer-side file for reading, sorting, and porting to file the data from a RoboPeak LIDAR unit connected to an Arduino.
Computer-side file to be run after everyDirectionReading.py to calculate the precision of the laser sensor after recording sample data.
Arduino-side file for reading and sorting the data from a RoboPeak LIDAR unit (in a single direction) connected to an Arduino
Computer-side file for reading, sorting, and porting to file the data from a RoboPeak LIDAR unit (in a single direction).
Computer-side file to be run after singleDirectionReading.py to calculate the precision of the laser sensor in a single direction after recording data.
A plot of the reported rotation speeds correlated with PWM commands.
Matlab file used to generate plot.