Tfolsom at 19:10, 27 June 2019

2019-06-27T19:10:47Z

JosephBreithaupt: Created page with " = Sweep Obstacle Detector = == Purpose == The purpose of this board is to use the Scanse Sweep lidar sensor to detect obstacles in front of the vehicle a..."

2019-05-23T05:19:42Z

Created page with " = Sweep Obstacle Detector = == Purpose == The purpose of this board is to use the Scanse Sweep lidar sensor to detect obstacles in front of the vehicle a..."

New page

= Sweep Obstacle Detector =

== Purpose ==

The purpose of this board is to use the [[ScanseSweep | Scanse Sweep]] lidar sensor to detect obstacles in front of the vehicle and signal to the [[LowLevel | C2]] when an obstacle is present.

== Configuration ==

The Sweep is mounted on the front of the bike and is controlled by an Arduino Micro. It is connected to the C2 by TX and GND wires.

=== Pin connections ===

{| cellpadding="5" cellspacing="0" border="1"
|-
|| *Pin* | *Connection*
|-
|| 1 || Serial TX to C2
|-
|| 2 || Sweep Power Enable
|-
|| 3 || Sweep Sync / Device Ready
|-
|| 8 || Serial RX to Sweep (!SoftwareSerial)
|-
|| 9 || Serial TX to Sweep (!SoftwareSerial)
|-
|| 1st GND || Sweep GND |
|-
|| 2nd GND || C2 GND |

|}

== Code ==

=== Distance Lookup Table ===

<pre>
DistanceLookupTable.h
DistanceLookupTable.cpp
</pre>

This class is used to generate a lookup table to represent the field around the trike wherein an obstacle can be found. Objects detected outside of this field are '''not''' obstacles.

==== How to Use ====

Create a DistanceLookupTable object like so, passing in the width of your vehicle, the speed of your vehicle, and the time to fully stop:

<pre>
DistanceLookupTable table(vehicleWidth_cm, vehicleSpeed_cmPs, brakeTime_ms);
</pre>

Then, query the table by passing in the angle (in degrees) of the reading:

<pre>
uint16_t distance = table.getDistance(angle);
</pre>

=== Sweep Obstacle Detector ===

<pre>
Sweep_Obstacle_Detector.ino
</pre>

This Arduino Micro sketch runs the Sweep and constantly checks readings to determine if an obstacle is present. If so, it writes an ElcanoSerial message to the C2.

The [https://github.com/scanse/sweep-arduino sweep-arduino] library is needed to compile this sketch.

=== LowLevel Test ===

<pre>
LowLevel_Test.ino
</pre>

This is a simple test to be used with the LowLevel board. It tests the connection to the Sweep Arduino, and control of the brakes.

=== Distance Lookup Table Test ===

<pre>
DistanceLookupTableTest.cpp
</pre>

This utility takes command-line arguments, constructs a DistanceLookupTable object based on those arguments, and prints out the table.

-- Main.JohnsonB - 2017-11-06

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SweepObstacleDetector - Revision history

Tfolsom at 19:10, 27 June 2019

JosephBreithaupt: Created page with " = Sweep Obstacle Detector = == Purpose == The purpose of this board is to use the Scanse Sweep lidar sensor to detect obstacles in front of the vehicle a..."