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November 07, 2018, 03:47:29 AM by Gareth | Views: 2009 | Comments: 0


Up till now I have been porting scans over the Serial wires and manually presenting the data.....

Now the Rig has its own Real-Time Debug TFT Display. (you might see it below the right wheel)

Above is just a 180° scan of this below :-

Wooden planks set at 90° and two DVD cases thrown in for measure.

Its much easier to experiment this way and the results are looking promising
November 07, 2018, 03:46:01 AM by Gareth | Views: 8721 | Comments: 10



I placed the Sensor rig into a cardboard box just to get a feeling for the data.

This is two passes of the probe, so you can see the slight variance in data.

Overlaying the raw data for 180°.... this was with GIMP so its just approximate

all looks kinda good except Hmmmm.... rounded corners cannot be explained...

another scan with DVD's :-


November 07, 2018, 03:44:49 AM by Gareth | Views: 2209 | Comments: 1



Its scanning, the stealthy Dual Time of Flight wiring was a soldering pig to execute (or should I say "Exterminate").

Data is flowing.... at momo a bit strange 200 Steps = 360° (until microstep instigated giving theoretical 1/16 steps ermm if my maths is correct 3200 Steps for 360° however at the price of speed)

In the current set up it is possible to gimbal the lasers both on the X and the Y orbits (i.e. putting the robot on its side and using one of the drive wheels as one of the Gimbals. (it could be redesigned as a pure standalone 3D scanner ...I think I...
November 07, 2018, 03:42:30 AM by Gareth | Views: 2191 | Comments: 2



Two is better than one...... (or 4 or 8 etcetcetc).

Following successful experiments with 1 single Time of Flight distance sensor mounted to Stepper, watching the scan process its seems to lend its self to setting the scan to just 180° and mount two sensors back to back to extract the whole 360°...... (or 90° scan with 4 sensors, hope you see where I am going with this :-)

Generally I2C devices come with a fixed address, so doubling up the same I2C animals with the same I2C address is not possible...... unless Slave address's are implemented.

The VL53LOX sensor has a trick up its sleeve ... the "XSHUT" pin   (aka.....
November 07, 2018, 03:40:19 AM by Gareth | Views: 1980 | Comments: 0

Time of Flight meets BlueTooth.....

Extensive testing with WiFi mesh networks proved to be not the way to go for this project... timing issues killed the progress.

Exit Wifi Mesh network goblins...... YAY

Enter the BlueTeethed Elves ....... YAY

The ESP32 has up its sleeve BlueTooth capabilities, it was a simple job to reconvert the data packets.

I must say the I am not a great fan of BlueTooth however its the first time the system appears to be pretty bombproof.

Below is current system using an ESP32 with TimeOfFlight laser module mounted to Stepper motor, transmitting data over a Bluetoot...
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