Used in the 5V and potentially in updated 3.3V versions too (needs confirmation).ĭata format is not compatible with v2.1.
Only used in the early 3.3V versions of the hardware (and probably only in these).ĭata format is different from the one of following versions. Firmware versionsįirmware version can be retrieved by listening to what the sensor says immediately after power-up, or through the robot's API. The connector of the motor is a JST PH 2.0mm pitch with 2 pins. Using the turn rate information contained in the data, a closed loop control can be implemented, and is recommended. Hair and dust can however create friction that will lower the rotation speed. The motor can be powered at 3.3V continuous ( ~60mA ) in open loop, which will produce a turn rate of around 240rpm on a clean and recent sensor. In the robot, it's that main board that drives it using PWM from the battery voltage of 12V, as it also controls the speed in closed loop.
Once again, even for the 5V version, LDS_TX and LDS_RX at 3.3V. Or you may get some version information like the following:Ĭopyright (c) 2009-2011 Neato Robotics, Inc. Sensor current consumption (does not include the motor): ~45mA idle (not rotating), ~135mA in use (rotating) 5V Sensor power consumption (does not include the motor): ~145mA 3.3Vįound in the vast majority of XV-11 units, and all newer models. 3.3V poweredįound only in very early units of the XV-11. The connector of the LDS is a JST PH 2.0mm pitch with 4 pins.
In all versions, LDS_TX and LDS_RX are a 8N1 serial port at 3.3V. The 6 screws under the unit!) and to have a look at what is written at the pad where the red wire coming from the center is soldered. One way to know for sure which one you have is to open the top of the sensor (by removing the 4 screws maintaining the cap, but don't touch Externally, they look identical, but they differ electrically. Hardware versionsĪt least two major hardware versions of the LDS have been seen in the wild. A very nice printed base for the LIDAR is available here.Īlso check for the USB2LDS module that guarantees steady motor RPM and provides the usb-to-serial functionality. If you want some GUI to test your LIDAR, check this (beware, it requires python2 and vpython 6). I did not want to write any visualization code, this snipped is meant to be used direcly on linux-running robots.
This repository contains an intentionally short C++ code that reads the steady flow the LIDAR sends to the host.
Note that the LDS_RX pin (the brown wire, more on the pinout below) is not used (I do not want to flash the LIDAR and anyways I do not know how to do it).
Here is a photo of one of my specimen connected to a PC via a usb-to-serial ftdi dongle: The LIDAR has two connectors, one for the motor and one for the communication (serial port). If you want a snippet that works with the more recent 360 Laser Distance Sensor LDS-01, it is not here. I am talking about the sensors salvaged from Neato Robotics robots. The actual name of the sensor is Piccolo Laser Distance Sensor, abbreviated into LDS, but many different names are used to refer to it: Neato LDS, Neato lidar, XV-11 lidar, XV-11 sensor. Generated by ZB-Block 0.6.This is a short documentation for the LIDAR used in the Neato XV11 vacuum robots. Reconstructed URL: /chat/viewtopic.php?t=18370
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