SweepObstacleDetector

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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 and signal to the 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

*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
2nd GND


Scanse Sweep.JPG

Code

Distance Lookup Table

DistanceLookupTable.h
DistanceLookupTable.cpp

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:

DistanceLookupTable table(vehicleWidth_cm, vehicleSpeed_cmPs, brakeTime_ms);

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

uint16_t distance = table.getDistance(angle);

Sweep Obstacle Detector

Sweep_Obstacle_Detector.ino

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 sweep-arduino library is needed to compile this sketch.

LowLevel Test

LowLevel_Test.ino

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

DistanceLookupTableTest.cpp

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

-- Main.JohnsonB - 2017-11-06