Lidar Lite - I2C setup

[Gabor Schilten]

Hi,

I am trying to get a Lidar Lite working via the IOIO OTG board, using I2C.

However, I'm not the most experienced I2C developer, and can;t get the device to work.

Has anyone here been playing with the same/different I2C based laser distance sensor?

Thanks,

Gabor

[Ytai Ben-Tsvi]

I2C is easy. Once you have implemented two near trivial methods, namely:

byte readRegister(byte regnum)

and 

void writeRegister(byte regnum, byte value)

You can forget about I2C and start talking to the chip according to the information provided in http://kb.pulsedlight3d.com/support/solutions/articles/5000549537-control-registers and related documentation on that site.

Alternatively, this sensor seems to support a different mode, where it is emitting PWM with bandwidth proportional to distance, so you can use this mode as well with PulseInput.

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[Gabor Schilten]

Hi,

With your advice I got something working!
(Compete i2c noob here)

Distance works up to 80 cm or so, after that I get negative values. Any suggestions?

Best regards,

Gabor

[Ytai Ben-Tsvi]

My bet would be that you have a bug related to java bytes being signed.
To get a value between 0-255 from a byte type, use (value & 0xff)

[Gabor Schilten]

Hi,

Got it working!
2 bytes to an int was the final trick.
Will try to document my project some time. But the first goal is to have an autonomous car pick up visitors in my office.
Thanks for the support!

Best regards,
Gabor

[Andrew Robinson]

Nice - can you rotate the nexus phone 180 degrees- I see you have some lego gears underneath there for something.....

[Gabor Schilten]

Yeah, actually more than that, a bit imprecise but around 600 degrees ;)
Will be used to look around when remotely accessing the camera.