How can I get data from RP LIDAR sensor with arduino?

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takamitsu hatakeyama
评论： Mingxin Bai 2020-10-30
Hello
I'm takamitsu.
I would like to ask about above question.
RP LIDAR sensor equip serial comunication(TX RX), So I thought it is possible to receive data using serial receive block.
I conected cable like attatched pdf, and drived arduino with my simulink model.(attatched model)
But, serial reseve block returned 0 state(that mean
unsuccess comunication), and I failed receive data from RP LIDAR.
So could you give me advice?

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回答（3 个）

FAUCHER Mickael
FAUCHER Mickael 2020-2-1
Hello,
I have the same project and I can't receive information. I am not an expert with aruino board but I think the USB communication between computer and arduino use TX and RX pin. If you want create 2 serial communication (1 with RPLIDAR and 1 with the computer) you need create a virtual serial port with 2 digital pin (for the RPILARD) and use RX and TX for the computer.
Me I try to connect directly the computer and the RPLIDAR (without arduino). I create communication, but I can't command the RPLIDAR and I can't receive information.
If you succes to create communication, please help me.
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FAUCHER Mickael
FAUCHER Mickael 2020-2-3
you will have more information on this pdf.
It explain the protocol of communication
good luck
takamitsu hatakeyama
takamitsu hatakeyama 2020-2-8
Hi,
Thank you for your PDF.
I'll cheak.
and about my sketch, it don't different to https://github.com/robopeak/rplidar_arduino .

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FAUCHER Mickael
FAUCHER Mickael 2020-2-9
I don't understand something, if it's the same the "simple_connect.ino", you have in this sketch the serial connection with the rplidar but you don't have the serial connection with the computer. How you can communicate without this serial connection?
takamitsu hatakeyama
编辑：takamitsu hatakeyama 2020-2-10
Hi
Acutualy, I just added serial.print command like bellow.
Eventually, I gave up comunication with RP LIDAR using arduino and simulink,,,,,,
I decided that use arduino as driver of RP LIDAR, and send sensored value by IDE(sketch) to raspberry pi using serial.write command.
Regard to raspberry pi, I intend that I use simulink( raspberry pi simulink support package ), and in simulink environment, I wanna built SLAM algorithm.
I posted question about my new plan, So if you have time, please help me.
https://jp.mathworks.com/matlabcentral/answers/504483-how-can-i-receive-data-from-arduino-using-serial-read-block-rasberry-pi-simulink-support-package
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
void setup() {
// bind the RPLIDAR driver to the arduino hardware serial
lidar.begin(Serial1);
Serial.begin( 115200 );←use for serial communication with PC
// set pin modes
pinMode(RPLIDAR_MOTOR, OUTPUT);
}
void loop() {
if (IS_OK(lidar.waitPoint())) {
float distance = lidar.getCurrentPoint().distance; //distance value in mm unit
float angle = lidar.getCurrentPoint().angle; //anglue value in degree
bool startBit = lidar.getCurrentPoint().startBit; //whether this point is belong to a new scan
byte quality = lidar.getCurrentPoint().quality; //quality of the current measurement
Serial.println(distance); ← by this command, you can discribe value of distance on your IDE serial monitor.
}
~~~~~~~~~~~~~~~~~~~~~~~~~~
  1 个评论
Mingxin Bai
Mingxin Bai 2020-10-30
Hello, I am using arduino due with rplidar a2, I have very tough time get the lidar start and read the data. Please see my code below if you could suggest me where I may did wrong. Much appreciated!
#include <RPLidar.h>
RPLidar lidar;
#define RPLIDAR_MOTOR 3
void setup()
{
// bind the RPLIDAR driver to the arduino hardware serial
lidar.begin(Serial2);
Serial2.begin(115200);
Serial.begin(115200);
//Serial1.begin(115200);
// set pin modes
pinMode(RPLIDAR_MOTOR, OUTPUT);
delay(500);
}
void loop()
{
lidar.stop();
if (IS_OK(lidar.waitPoint()))
{
float distance = lidar.getCurrentPoint().distance; //distance value in mm unit
float angle = lidar.getCurrentPoint().angle; //anglue value in degree
bool startBit = lidar.getCurrentPoint().startBit; //whether this point is belong to a new scan
byte quality = lidar.getCurrentPoint().quality; //quality of the current measurement
Serial.print(", distance: ");
Serial.print(distance);
Serial.print(", angle: ");
Serial.print(angle);
Serial.print(", startBit: ");
Serial.print(startBit);
Serial.print(", quality: ");
Serial.println(quality);
}
else
{
analogWrite(RPLIDAR_MOTOR, 0); //stop the rplidar motor
// try to detect RPLIDAR...
rplidar_response_device_info_t info;
if (IS_OK(lidar.getDeviceInfo(info, 100)))
{
// detected...
lidar.startScan();
// start motor rotating at max allowed speed
analogWrite(RPLIDAR_MOTOR, 155);
delay(100);
}
}
}

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