Arduino Driver Support & Demo - RoboPeak

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RPLIDAR Application NoteArduino Driver Support & Demo2014-5Rev.1Copyright 2009-2014 RoboPeak Teamhttp://www.RoboPeak.com

RPLIDAR Application NoteArduino Driver Support & DemoContents:1.OVERVIEW . 2PERFORMANCE ISSUE . 22.RPLIDAR ARDUINO DRIVER LIBRARY. 3ABOUT THE LIBRARY . 3SYSTEM REQUIREMENT . 3LIBRARY INSTALLATION. 3EXAMPLES . 43.EXAMPLE DEMONSTRATIONS . 6BASICS. 6EXAMPLE: SIMPLE CONNECT . 8EXAMPLE: DISTANCE TO COLOR . 94.REVISION HISTORY . 111 / 11Copyright 2009-2014 RoboPeakhttp://www.RoboPeak.com

RPLIDAR Application NoteArduino Driver Support & Demo1.OverviewRoboPeak provides RPLIDAR driver library and related demo sketches to help users fastintegrate RPLIDAR into their Arduino based systems.The Arduino driver library can be used on standard Atmel AVR based Arduino boards likeArduino UNO and any other Arduino-compatible boards like Intel Galileo, Leaf Lab mapleand etc.The library provides similar APIs with those appeared in the standard RPLIDAR SDK.In this document, a simple demo based on the RPLIDAR Arduino driver is introduced.Performance IssueUsers are required to pay attention to the code efficiency when using this RPLIDARArduino driver Library.As RPLIDAR continuous outputs data to a host system with 2000 samples per second, thehost system must perform data processing task within 500us for each samples(measurement data) it receives.For standard Atmel AVR based Arduino board like Arduino UNO or Arduino Mega, due tothe slow speed of the MCU, application code must be efficient enough to finish theprocessing task in time. Otherwise, sample data lose may occur.For sophisticated applications like SLAM, RoboPeak recommend users to use a morepowerful system other than the standard Arduino.2 / 11Copyright 2009-2014 RoboPeakhttp://www.RoboPeak.com

RPLIDAR Application NoteArduino Driver Support & Demo2. RPLIDAR Arduino Driver LibraryAbout the LibraryThe RPLIDAR’s Arduino Driver Library is available on RPLIDAR’s product downloadpage:http://rplidar.robopeak.comThe source code can be found on github:https://github.com/robopeak/rplidar arduinoSystem Requirement Arduino IDE:1.0.5 or higher Hardware:Arduino board or compatible versions with AT LEAST one hardware serial portRPLIDAR Model A1M1 Development KitLibrary InstallationThe driver library is provided as a standard Arduino Library, i.e. a ZIP package whichcan be installed into the Arduino IDE using the Import Library command provided bythe Arduino IDE.Please follow the following steps to install it, or refer to the instructions on theArduino website: http://arduino.cc/en/Guide/Libraries STEP#1Download the Arduino driver library ZIP package, and import it using the Add Librarycommand in the Arduino IDE:3 / 11Copyright 2009-2014 RoboPeakhttp://www.RoboPeak.com

RPLIDAR Application NoteArduino Driver Support & Demo STEP#2Once the driver library gets imported, you will see the related item in the availablelibrary list menu.ExamplesYou may start using the driver library by first referring to the included examplesprovided by the library package.Once the library gets installed, you can find the related examples in the example listmenu:4 / 11Copyright 2009-2014 RoboPeakhttp://www.RoboPeak.com

RPLIDAR Application NoteArduino Driver Support & Demo5 / 11Copyright 2009-2014 RoboPeakhttp://www.RoboPeak.com

RPLIDAR Application NoteArduino Driver Support & Demo3. Example DemonstrationsBasics System Connection:Connect RPLIDAR to your Arduino board as the following figure illustrates. The 2.5mmdupont wires can be used to make the connection.- GND- RX- TX- V5.0- GND- MOTOCTL- VMOTOArduinoRoboPeakRPLIDARRPLIDAR PinArduino PinDescriptionGNDV5.0VMOTORXTXMOTOCTLGND5V5V/ICSP Pin2Pin1 (TXD)Pin0 (RXD)Pin3 (PWM)Power Ground5V Power Supply for the RPLIDAR Core5V Power Supply for the RPLIDAR motorSerial port, RX -TXSerial port, TX- RXRPLIDAR Motor speed controlIf you just want the RPLIDAR rotation at maximum speed, the MOTOCTL pin can beconnected to the 3V3 pin on the Arduino board.6 / 11Copyright 2009-2014 RoboPeakhttp://www.RoboPeak.com

RPLIDAR Application NoteArduino Driver Support & Demo Caution in Sketch DownloadingAs the RXD, TXD pin on Arduino are occupied during sketch downloading operation, youmust leave these pins disconnected with the RPLIDAR pins. Otherwise, the downloadoperation will fail.7 / 11Copyright 2009-2014 RoboPeakhttp://www.RoboPeak.com

RPLIDAR Application NoteArduino Driver Support & DemoExample: simple connectThis example shows the common procedure of connecting to an RPLIDAR, start scanningoperation and fetching the measurement data. You may use this example as a template for yourapplication.The waitPoint() operation returns RESULT OK when there is a measurement data node has beenreceived by Arduino. Users can add their application code inside this code block.8 / 11Copyright 2009-2014 RoboPeakhttp://www.RoboPeak.com

RPLIDAR Application NoteArduino Driver Support & DemoExample: distance to colorThis example uses an RGB color LED to show the direction and distance of the closestobject sensed by the RPLIDAR.The direction angle of the object is represented by the hue (color) of the LED. The distanceis represented by the light intense of the LED. System Connection:Please follow the instructions as showed in the above Basics section first. Then make theextra connection to an RGB LED:LED PinArduino PinCommon AnodeRedGreenBlue1291110The whole system looks like the following:9 / 11Copyright 2009-2014 RoboPeakhttp://www.RoboPeak.com

RPLIDAR Application NoteArduino Driver Support & DemoYou may refer to the following video for details:https://www.youtube.com/watch?v 9zgn-GuVt3A10 / 11Copyright 2009-2014 RoboPeakhttp://www.RoboPeak.com

RPLIDAR Application NoteArduino Driver Support & Demo4. Revision HistoryDate2013-5-17ContentInitial draft11 / 11Copyright 2009-2014 RoboPeakhttp://www.RoboPeak.com

The Arduino driver library can be used on standard Atmel AVR based Arduino boards like Arduino UNO and any other Arduino-compatible boards like Intel Galileo, Leaf Lab maple and etc. The library provides similar APIs with those appeared in the standard RPLIDAR SDK. In this document, a simple demo based on t

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arduino-00 -win.zip Recommended Path c:\Program Files\ ( - version #) Step 3: Shortcut Icon Open c:\program files\arduino-00 Right Click Arduino.exe (send to Desktop (create shortcut)) \ ( - version #) Step 4: Plug In Your Arduino Plug your Arduino in: Using the included USB cable, plug your Arduino board into a free USB port. Wait for a box to .

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arduino’s analog pin 4 (SDA). And the pin labelled as SCL on the MPU 6050 to the arduino’s analog pin 5 (SCL). And that’s it, you have finished wiring up the Arduino MPU 6050. Step 2: Uploading the code and testing the Arduino MPU 6050 To test the Arduino MPU 6050, first download the arduino library for MPU 6050, developed by Jeff Rowberg.

3. Then, use the Arduino IDE to write code to send to Arduino. Once a code is sent to the Arduino, it lives on the Arduino Uno. Any future edits to that code on the computer will not be sent to the Arduino unless it is manually uploaded to the Arduino Uno. When using the Arduino

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