in stock 95% new! 6m 2000HZ 2KHZ infrared Laser ranging module for Neato XV series mopping robot RPS LDS Scan Head
Neato XV Series Sweeper RPS LDS Scanner Top Camera, Model: XV-11 XV-12 XV-14 XV-21
Development data:
Serial Communication: Rate 115200 8N1
Radar sends 90 packets per full revolution
Each packet contains information for 4 measurement points
Each packet has a fixed length of 22 bytes
This total of 360° rotates a total of 1980 bytes in one week, which is equivalent to one distance data per degree.
The radar data packet format is as follows
Radar packet format:
[Data 0] [Data 1] [Data 2] [Data 3]
:0xFA, a fixed format indicates the start of a packet and can be used to split the packet from the data stream.
: The index number of the packet, ranging from 0xA0 to 0xF9 (89 packets in total, 4 packets per packet).
: There are two speedL and speedH, each one of them, together constitute the speed information, probably a low 6bit fractional part. (In fact, I don\`t know how to translate this, and copy the uncle of the radar directly.)
: [Data 0] to [Data 3] are four sets of measurement data, in which each set of measurement data consists of 4 bytes, as follows:
Byte 0
:
# 0-7 of the distance information
Byte 1
: <"invalid data" flag> <"strength warning" flag>
# Error message flag, warning bit, 13-8 bit distance information
Byte 2
:
# Signal strength 0-7 bits
Byte 3
:
# Signal strength 8-15 bits
The unit of distance information is mm. The measurement range of the whole laser radar is about 15cm to 6m. It is only necessary to assemble the two bytes of the distance information into an integer (note that the invalid data bit is 0, if it is 1 means it is invalid The data should be discarded).
Note: This product is a factory inventory product. Placed there have a period of time, But the function is normal
DUE to different product batches,2 version random ship! PLS NOTE!
VERSION 1:
version 2:
1 PCS