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‎README.md

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# sweep-arduino
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Arduino Library for Scanse Sweep LiDAR
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# Compatibility
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Currently the library has only been tested with an Arduino Mega.
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# Installation
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Copy the entire `Sweep/` folder to your `.../Arduino/libraries/` directory.
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# Use
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Checkout the provided `Examples/MegaSerialPrinter/MegaSerialPrinter.ino` for a full example.
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Include the Sweep library in your sketch:
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```arduino
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#include <Sweep.h>
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...
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```
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Create a Sweep device with a Stream Object:
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```c
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// Ex: assuming sweep is connected to Serial #1 (RX1 & TX1) on the Mega
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Sweep device(Serial1);
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...
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```
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Adjust device settings:
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```c++
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// Set the motor speed to 5HZ (codes available from 1->10 HZ)
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bool bSuccess = device.setMotorSpeed(MOTOR_SPEED_CODE_5_HZ);
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...
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// Set the sample rate to 500HZ (codes available for 500, 750 and 1000 HZ)
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bool bSuccess = device.setSampleRate(SAMPLE_RATE_CODE_500_HZ);
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```
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Retrieve current device settings:
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```c
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// Read the current motor speed
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int32_t currentMotorSpeed = device.getMotorSpeed();
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if (currentMotorSpeed < 0)
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// Failed to get current motor speed
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...
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// Read the current sample rate
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int32_t currentSampleRate = device.getSampleRate();
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if (currentSampleRate < 0)
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// Failed to get current sample rate
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...
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```
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Data collection:
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```c
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// Start scanning
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bool bSuccess = device.startScanning();
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...
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// Create a scan packet to populate with the sensor reading
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ScanPacket reading;
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// read 10 individual sensor readings
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for (int i = 0; i < 10; i++) {
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if(device.getReading(reading)) {
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bool bFirstOfNewScan = reading.bIsSync;
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float angle = reading.angle;
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uint16_t range = reading.distance;
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uint8_t confidence = reading.signalStrength;
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...
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// stop scanning
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bool bSuccess = device.stopScanning();
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```
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‎Sweep/Examples/MegaSerialPrinter/MegaSerialPrinter.ino

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/*
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Scanse Sweep Arduino Library Examples
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MegaSerialPrinter:
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- Example sketch for using the Scanse Sweep with the Arduino Mega 2560.
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- Collects at least 3 complete scans, and then prints the sensor readings
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- Assumes Sweep sensor is physically connected to Serial #1 (RX1 & TX1)
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- For the sweep's power, ground, RX & TX pins, follow the connector
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pinouts in the sweep user manual located here:
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http://scanse.io/downloads
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- Be sure to connect RX_device -> TX_arduino & TX_device -> RX_arduino
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- If the arduino is running off USB power alone, the quantity and
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quality of sensor readings will drop
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Created by David C. Young, February 21, 2017.
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Released into the public domain.
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*/
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#include <Sweep.h>
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// Create a Sweep device using Serial #1 (RX1 & TX1)
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Sweep device(Serial1);
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// Scan packet struct, used to store info for a single reading
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ScanPacket reading;
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// keeps track of how many scans have been collected
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uint8_t scanCount = 0;
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// keeps track of how many samples have been collected
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uint16_t sampleCount = 0;
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// Arrays to store attributes of collected scans
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bool syncValues[500]; // 1 -> first reading of new scan, 0 otherwise
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float angles[500]; // in degrees (accurate to the millidegree)
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uint16_t distances[500]; // in cm
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uint8_t signalStrengths[500]; // 0:255, higher is better
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// Finite States for the program sequence
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const uint8_t STATE_WAIT_FOR_USER_INPUT = 0;
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const uint8_t STATE_ADJUST_DEVICE_SETTINGS = 1;
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const uint8_t STATE_VERIFY_CURRENT_DEVICE_SETTINGS = 2;
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const uint8_t STATE_BEGIN_DATA_ACQUISITION = 3;
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const uint8_t STATE_GATHER_DATA = 4;
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const uint8_t STATE_STOP_DATA_ACQUISITION = 5;
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const uint8_t STATE_REPORT_COLLECTED_DATA = 6;
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const uint8_t STATE_RESET = 7;
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const uint8_t STATE_ERROR = 8;
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// Current state in the program sequence
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uint8_t currentState;
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// String to collect user input over serial
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String userInput = "";
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void setup()
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{
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// Initialize serial
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Serial.begin(9600); // serial terminal on the computer
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Serial1.begin(115200); // sweep device
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// reserve space to accumulate user message
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userInput.reserve(50);
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// initialize counter variables and reset the current state
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reset();
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}
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// Loop functions as an FSM (finite state machine)
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void loop()
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{
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switch (currentState)
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{
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case STATE_WAIT_FOR_USER_INPUT:
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if (listenForUserInput())
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currentState++;
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break;
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case STATE_ADJUST_DEVICE_SETTINGS:
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currentState = adjustDeviceSettings() ? currentState + 1 : STATE_ERROR;
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break;
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case STATE_VERIFY_CURRENT_DEVICE_SETTINGS:
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currentState = verifyCurrentDeviceSettings() ? currentState + 1 : STATE_ERROR;
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break;
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case STATE_BEGIN_DATA_ACQUISITION:
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currentState = beginDataCollectionPhase() ? currentState + 1 : STATE_ERROR;
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break;
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case STATE_GATHER_DATA:
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gatherSensorReading();
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if (scanCount > 3)
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currentState++;
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break;
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case STATE_STOP_DATA_ACQUISITION:
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currentState = stopDataCollectionPhase() ? currentState + 1 : STATE_ERROR;
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break;
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case STATE_REPORT_COLLECTED_DATA:
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printCollectedData();
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currentState++;
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break;
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case STATE_RESET:
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reset();
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currentState = 0;
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break;
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default: // there was some error
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// DO NOTHING
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break;
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}
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}
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// checks if the user has communicated anything over serial
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// looks for the user to send "start"
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bool listenForUserInput()
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{
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while (Serial.available())
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{
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userInput += (char)Serial.read();
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}
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if (userInput.indexOf("start") != -1)
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{
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Serial.println("Registered user start.");
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return true;
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}
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return false;
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}
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// Adjusts the device settings
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bool adjustDeviceSettings()
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{
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// Set the motor speed to 5HZ (codes available from 1->10 HZ)
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bool bSuccess = device.setMotorSpeed(MOTOR_SPEED_CODE_5_HZ);
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Serial.println(bSuccess ? "\nSuccessfully set motor speed." : "\nFailed to set motor speed");
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/*
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// Device will always default to 500HZ scan rate when it is powered on.
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// Snippet below is left for reference.
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// Set the sample rate to 500HZ (codes available for 500, 750 and 1000 HZ)
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bool bSuccess = device.setSampleRate(SAMPLE_RATE_CODE_500_HZ);
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Serial.println(bSuccess ? "\nSuccessfully set sample rate." : "\nFailed to set sample rate.");
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*/
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return bSuccess;
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}
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// Querries the current device settings (motor speed and sample rate)
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// and prints them to the console
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bool verifyCurrentDeviceSettings()
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{
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// Read the current motor speed and sample rate
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int32_t currentMotorSpeed = device.getMotorSpeed();
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if (currentMotorSpeed < 0)
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{
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Serial.println("\nFailed to get current motor speed");
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return false;
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}
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int32_t currentSampleRate = device.getSampleRate();
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if (currentSampleRate < 0)
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{
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Serial.println("\nFailed to get current sample rate");
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return false;
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}
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// Report the motor speed and sample rate to the computer terminal
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Serial.println("\nMotor Speed: " + String(currentMotorSpeed) + " HZ");
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Serial.println("Sample Rate: " + String(currentSampleRate) + " HZ");
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return true;
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}
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// Initiates the data collection phase (begins scanning)
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bool beginDataCollectionPhase()
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{
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// Attempt to start scanning
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bool bSuccess = device.startScanning();
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Serial.println(bSuccess ? "\nSuccessfully initiated scanning..." : "\nFailed to start scanning.");
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return bSuccess;
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}
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// Gathers individual sensor readings until 3 complete scans have been collected
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void gatherSensorReading()
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{
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// attempt to get the next scan packet
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// Note: getReading() will write values into the "reading" variable
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if (device.getReading(reading))
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{
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// check if this reading was the very first reading of a new 360 degree scan
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if (reading.bIsSync)
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scanCount++;
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// don't collect more than 3 scans
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if (scanCount > 3)
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return;
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// store the info for this sample
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syncValues[sampleCount] = reading.bIsSync;
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angles[sampleCount] = reading.angle;
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distances[sampleCount] = reading.distance;
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signalStrengths[sampleCount] = reading.signalStrength;
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// increment sample count
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sampleCount++;
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}
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}
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// Terminates the data collection phase (stops scanning)
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bool stopDataCollectionPhase()
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{
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// Attempt to stop scanning
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bool bSuccess = device.stopScanning();
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Serial.println(bSuccess ? "\nSuccessfully stopped scanning." : "\nFailed to stop scanning.");
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return bSuccess;
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}
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// Prints the collected data to the console
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// (only prints the complete scans, ignores the first partial)
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void printCollectedData()
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{
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Serial.println("\nPrinting info for the collected scans (NOT REAL-TIME):");
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int indexOfFirstSyncReading = 0;
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// don't print the trailing readings from the first partial scan
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while (!syncValues[indexOfFirstSyncReading])
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{
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indexOfFirstSyncReading++;
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}
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// print the readings for all the complete scans
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for (int i = indexOfFirstSyncReading; i < sampleCount; i++)
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{
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if (syncValues[i])
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{
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Serial.println("\n----------------------NEW SCAN----------------------");
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}
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Serial.println("Angle: " + String(angles[i], 3) + ", Distance: " + String(distances[i]) + ", Signal Strength: " + String(signalStrengths[i]));
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}
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}
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// Resets the variables and state so the sequence can be repeated
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void reset()
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{
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scanCount = 0;
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sampleCount = 0;
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Serial.flush();
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userInput = "";
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Serial.println("\n\nWhenever you are ready, type \"start\" to to begin the sequence...");
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currentState = 0;
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}

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