Renesas RDKRX62N Demo Kit arrived!

Got my free Renesas RDKRX62N Demo Kit for Renesas RX Design Contest.
Very Nice tool kits to play with.

Roomba with XV-11 Lidar

Neato XV-11 Laser Distance Scanner test in Ubuntu 10.10 with Xevel's NXV-11 vpython code.

Roomba Create carry the XV-11 LDS and a laptop

Arduino mega XV-11 LDS motor dirver test

I make a adapter using Arduino mega 1280 to output PWM to control XV-11 LDS motor.
LDS motor power directly from USB 5V with a IPS041L low side switch control with PWM.
The XV-11 LDS data is connect to Arduino mega RX3 then relay senf out from TX ( USB-serial ).
So the user can use Xevel's program to see the lidar plot. [update] Currently it is has simple close loop control. Arduino mega code you can get from here( github).

NXV11 python code test

Did some test with Xevel's code. Fix some display issues and make plot more easy to read.
Here is the list of improment

1. Fix view point make lidar scan display correctly.
2. Add ring every meter make it easy to read distance
3. Enable the 0 degree heading line.
4. Moving label,text so we can have clear view of the scan.
   

Here is the link to github (fork from NXV11).

Neato XV-11 LDS menu test

This is part of the Open Lidar project to hack into Neato XV-11's LDS (Laser Distance Sensor), Hash is the first one found out the menu. That's try something.

1. help

   #help
   Help...press ESC 3 times to abort...
   GetVersion
   Help
   Log
   SaveCal
   SetBaud
   SetSerial
   Upload
   Wanderer
   Calibrate b16 b8 SunBlind loop2AA loop155
   GetCal A B C LPT LFL LFT LFH IMX IB LPI LCH LPD ANG
   SetCal A B C LPT LFL LFT LFH IMX IB LPI LCH LPD ANG
   Spin Fake DotX DotI Text Hash Timing Foto RPS Pac
   TestEncoder
   SUCCEEDED

2. getversion

   #getversion
   GetVersion...press ESC 3 times to abort...OK
   Piccolo Laser Distance Scanner
   Copyright (c) 2009-2010 Neato Robotics, Inc.
   All Rights Reserved
   
   Loader V2.4.13386
   CPU F2802x/c600
   Serial AAA42110AA-0003662
   LastCal [2010182117]
   Runtime V2.4.13386
   SUCCEEDED

3. log

   #log
   Log...press ESC 3 times to abort...
   FWL,20633,13264,13386,
   FWR,20633,6,13386,
   FWL,9131,13386,13265,
   FWR,9131,6,13265,
   LSR,9131,120,200,404,299,315,702,502,698,
   FOC,9131,145,284,768,21,21,22084,22952,
   FOC,4331,86,300,32767,0,0,11976,14488,
   LSR,2131,120,192,409,292,299,702,484,697,
   FOC,2131,132,272,780,21,21,18360,20072,
   LSR,21231,120,192,408,294,305,702,492,698,
   FOC,21231,156,296,760,23,23,656,25832,
   FWL,21232,13265,13386,
   FWR,21232,6,13386,
   CTA,21232,666,80,
   CTC,21232,666,80,
   CAL,21232,100,21770,9432,0,
   CTA,21232,148,12063,385,374,111,
   CTC,21232,120,19300,622,591,319,
   CAL,21232,100,22054,8557,0,
   SUCCEEDED
   

4. wanderer

   #wanderer
   Wanderer...press ESC 3 times to abort...
   
   .-"""-. .-"""-.
   /,:;;:; ,'=. \
   : ;:;:;' .=" ,'_\ ;
   : ':;:;,/ ,__:= ;
   \ ';;:; =./)_ /
   `.`"=\_ )_"`.'
   `. ``'".'
   `. .'
   `.'
   
   SUCCEEDED

5. getcal

   #getcal
   GetCal...press ESC 3 times to abort... 0005199398 SUCCEEDED

6. testencoder. This test I use 3.3V to power LDS motor then read the result.
   This is use to test encoder, first column is degrees, then the preiod time , low-time, column 4 last 3 digit is RPM
   To test, stop motor first, then type "testencoder" enter, then power motor. Then you will see the testing result.
   

   #testencoder
   0000 0000511499 0000110414 00000084950310
   0024 0000512462 0000239437 00000085520310
   0048 0000514797 0000240747 00000083770310
   0072 0000516183 0000241340 00000085840310
   0096 0000516868 0000241576 00000084400310
   0120 0000517073 0000241078 00000084690310
   0144 0000517073 0000241548 00000084830310
   0168 0000515233 0000240405 00000085670310
   0192 0000515167 0000240376 00000083850310
   0216 0000514274 0000240028 00000083850310
   0240 0000514397 0000240514 00000086080310
   0264 0000513840 0000239734 00000086920310
   0288 0000513135 0000239671 00000084090310
   0312 0000512886 0000239463 00000087510310
   0336 0000511497 0000238337 00000086970310
   Deg. Timer1 Timer2 RPM
   Base on the timer1 counter number we can calculate the DSP is running at 40MHz, fits TI's TMS320F2802x Piccolo MCU.
   

7. 
   
8. 
   
9. spin
   spin text
   spin rps
   
10. setbaud
    setbaud 9600
    

LaserBot assembled

Here is the my little robot with Neato's XV-11 360 degree laser scanner. Runs with 12V battery, control by dsPIC33FJ64MC802 MCU communicate with PC via BGB203 Bluetooth. The circuit board/robot was using for my old robot project but it fits nicely with new Laser Distance Sensor (XV-11 LDS). I plan to use it to finish the SLAM challenge form the Open Lidar Project

Here is the spec.:
MCU: dsPICFJ64MC802
Motor: PITTMAN GM9434H128R2 24V DC ,GEAR RATIO=19.7:1 , @ 24V max speed 313 RPM
ENCODER: MTL MEH-17-300, 300 PPR
WHEEL Diameter: 9.6 cm
H-Bridge: L298 Dual H-Bridge Motor Driver, 2A max each channel.
LDS motor is power by TIP102 NPN Darlington Transistor(Low side drive). Motor only need around 3.3V 65mA to operate.
OS: Running FreeRTOS V6
Communication: BGB203 Bluetooth(Sparkfun) @115200BPS

Board layout

Circuit board with XV-11 Laser Distance Sensor