Version bump

kaiaai · Apr 30, 2024 · 3cd713e · 3cd713e
1 parent 2f1f0da
commit 3cd713e
Show file tree

Hide file tree

Showing 6 changed files with 38 additions and 25 deletions.
diff --git a/README.md b/README.md
@@ -1,14 +1,17 @@
 # LDS/LiDAR Library for Arduino
 Laser distance scan sensor (LDS/LIDAR) Arduino wrapper/controller for [kaia.ai](https://kaia.ai) home robot software platform.
-Please read this [blog post](https://kaia.ai/blog/arduino-lidar-library/) for more details.
+Please check out the [Awesome 2D LiDARs list](https://github.com/kaiaai/awesome-2d-lidars)
+and read this [blog post](https://kaia.ai/blog/arduino-lidar-library/) for more details.
 
 This library supports:
 - YDLIDAR X4, X3, X3-PRO, X2/X2L models
 - SLAMTEC RPLIDAR A1
 - Neato XV11/Botvac
 - Xiaomi Roborock Mi 1st gen LDS02RR
-- 3drobotix Delta-2A, Delta-2B, Delta-2G, Delta-2A 115000 baud
+- 3irobotix Delta-2A, Delta-2B, Delta-2G, Delta-2A 115000 baud
+  - Note: there is a fixed pattern noise issue that needs debug
 - LDROBOT LD14P
+- CAMSENSE X1
 
 Other models are in the works.
 
@@ -39,6 +42,11 @@ Other models are in the works.
  <img src="http://img.youtube.com/vi/ebbHqs4lW0U/maxresdefault.jpg" alt="LDROBOT LD14P LiDAR connected to Arduino, ROS2" width="720" height="405" border="10" />
 </a>
 
+### Video: CAMSENSE X1 runs on Arduino, ROS2
+<a href="http://www.youtube.com/watch?feature=player_embedded&v=kNBraxYKvvI" target="_blank">
+ <img src="http://img.youtube.com/vi/kNBraxYKvvI/maxresdefault.jpg" alt="CAMSENSE X1 LiDAR connected to Arduino, ROS2" width="720" height="405" border="10" />
+</a>
+
 ## Connecting to Arduino
 Please follow [this tutorial](https://kaia.ai/blog/tutorial-connect-ld14p-lidar/) to connect LDROBOT LD14P to Arduino ESP32.
 
@@ -50,11 +58,16 @@ Some LiDAR/LDS models do not have built-in motor control and therefore require a
 
 ## Performance Notes
 - currently Delta-2A, -2B, -2G exhibit mysterioius fixed pattern noise
-  - I'm sure it can be fixed, but so far I haven't heard back from 3irobotix support.
+  - this noise does NOT show when using 3irobotix development kit, so it should be fix-able (somehow)
+  - so far I haven't heard back from 3irobotix support.
 
 ## Release notes
 
-## v0.5.3 - in debug
+## v0.5.4
+- added CAMSENSE X1
+- example sketch fix
+
+## v0.5.3
 - added Delta-2A 230400 baud
 - added Delta-2B
 

diff --git a/keywords.txt b/keywords.txt
@@ -18,7 +18,7 @@ LDS_DELTA_2A_230400	KEYWORD1
 LDS_DELTA_2A_115200	KEYWORD1
 LDS_DELTA_2B	KEYWORD1
 LDS_DELTA_2G	KEYWORD1
-LDS_LDLIDAR_LD14P	KEYWORD1
+LDS_LDROBOT_LD14P	KEYWORD1
 LDS_CAMSENSE_X1	KEYWORD1
 
 #######################################

diff --git a/library.properties b/library.properties
@@ -1,9 +1,9 @@
 name=LDS
-version=0.5.3
+version=0.5.4
 author=Ilia O. <[email protected]>
 maintainer=Ilia O. <[email protected]>
 sentence=Laser distance scan sensors (LDS/LIDAR) wrapper/controller for kaia.ai robotics platform
-paragraph=Supports YDLIDAR X4, X3, X3 PRO, X2/X2L; Xiaomi Roborock 1st gen LDS02RR; Neato XV11; SLAMTEC RPLIDAR A1; 3irobotix Delta-2A, -2B, -2G, -2A 115000; LDROBOT LD14P
+paragraph=Supports YDLIDAR X4, X3, X3 PRO, X2/X2L; Xiaomi Roborock 1st gen LDS02RR; Neato XV11; SLAMTEC RPLIDAR A1; 3irobotix Delta-2A, -2B, -2G, -2A 115000; LDROBOT LD14P; CAMSENSE X1
 category=Sensors
 url=https://github.com/kaiaai/LDS
 architectures=*
diff --git a/src/LDS_LDLIDAR_LD14P.cpp → src/LDS_LDROBOT_LD14P.cpp b/src/LDS_LDLIDAR_LD14P.cpp → src/LDS_LDROBOT_LD14P.cpp
@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "LDS_LDLIDAR_LD14P.h"
+#include "LDS_LDROBOT_LD14P.h"
 
-void LDS_LDLIDAR_LD14P::init() {
+void LDS_LDROBOT_LD14P::init() {
   motor_enabled = false;
   speed_deg_per_sec = 0;
   parser_idx = 0;
@@ -24,35 +24,35 @@ void LDS_LDLIDAR_LD14P::init() {
   enableMotor(false);
 }
 
-LDS::result_t LDS_LDLIDAR_LD14P::start() {
+LDS::result_t LDS_LDROBOT_LD14P::start() {
   enableMotor(true);
   postInfo(INFO_MODEL, getModelName());
   return RESULT_OK;
 }
 
-uint32_t LDS_LDLIDAR_LD14P::getSerialBaudRate() {
+uint32_t LDS_LDROBOT_LD14P::getSerialBaudRate() {
   return 230400;
 }
 
-float LDS_LDLIDAR_LD14P::getTargetScanFreqHz() {
+float LDS_LDROBOT_LD14P::getTargetScanFreqHz() {
   return DEFAULT_VALUE;
 }
 
-int LDS_LDLIDAR_LD14P::getSamplingRateHz() {
+int LDS_LDROBOT_LD14P::getSamplingRateHz() {
   return 4000;
 }
 
-float LDS_LDLIDAR_LD14P::getCurrentScanFreqHz() {
+float LDS_LDROBOT_LD14P::getCurrentScanFreqHz() {
   static constexpr float ONE_OVER_360 = 1.0f/360.0f;
   return ONE_OVER_360 * speed_deg_per_sec;
 }
 
-LDS::result_t LDS_LDLIDAR_LD14P::stop() {
+LDS::result_t LDS_LDROBOT_LD14P::stop() {
   enableMotor(false);
   return RESULT_OK;
 }
 
-void LDS_LDLIDAR_LD14P::enableMotor(bool enable) {
+void LDS_LDROBOT_LD14P::enableMotor(bool enable) {
   static constexpr uint8_t START_CMD[] = {0x54, 0xA0, 0x04, 0x00, 0x00, 0x00, 0x00, 0x5E};
   static constexpr uint8_t STOP_CMD[] = {0x54, 0xA1, 0x04, 0x00, 0x00, 0x00, 0x00, 0x4A};
   motor_enabled = enable;
@@ -65,15 +65,15 @@ void LDS_LDLIDAR_LD14P::enableMotor(bool enable) {
   // TODO verify serial response
 }
 
-bool LDS_LDLIDAR_LD14P::isActive() {
+bool LDS_LDROBOT_LD14P::isActive() {
   return motor_enabled;
 }
 
-LDS::result_t LDS_LDLIDAR_LD14P::setScanTargetFreqHz(float freq) {
+LDS::result_t LDS_LDROBOT_LD14P::setScanTargetFreqHz(float freq) {
   return freq <= 0 ? RESULT_OK : ERROR_NOT_IMPLEMENTED;
 }
 
-void LDS_LDLIDAR_LD14P::loop() {
+void LDS_LDROBOT_LD14P::loop() {
   while (true) {
     int c = readSerial();
     if (c < 0)
@@ -85,7 +85,7 @@ void LDS_LDLIDAR_LD14P::loop() {
   }
 }
 
-void LDS_LDLIDAR_LD14P::checkSum(uint8_t value) {
+void LDS_LDROBOT_LD14P::checkSum(uint8_t value) {
   static const uint8_t CRC_TABLE[256] = {
     0x00, 0x4d, 0x9a, 0xd7, 0x79, 0x34, 0xe3,
     0xae, 0xf2, 0xbf, 0x68, 0x25, 0x8b, 0xc6, 0x11, 0x5c, 0xa9, 0xe4, 0x33,
@@ -113,7 +113,7 @@ void LDS_LDLIDAR_LD14P::checkSum(uint8_t value) {
   crc = CRC_TABLE[(crc ^ value) & 0xff];
 }
 
-LDS::result_t LDS_LDLIDAR_LD14P::processByte(uint8_t c) {
+LDS::result_t LDS_LDROBOT_LD14P::processByte(uint8_t c) {
   LDS::result_t result = RESULT_OK;
   uint8_t * rx_buffer = (uint8_t *)&scan_packet;
 
@@ -237,7 +237,7 @@ LDS::result_t LDS_LDLIDAR_LD14P::processByte(uint8_t c) {
   return result;
 }
 
-uint16_t LDS_LDLIDAR_LD14P::decodeUInt16(const uint16_t value) const {
+uint16_t LDS_LDROBOT_LD14P::decodeUInt16(const uint16_t value) const {
   union {
     uint16_t i;
     char c[2];
@@ -246,4 +246,4 @@ uint16_t LDS_LDLIDAR_LD14P::decodeUInt16(const uint16_t value) const {
   return bint.c[0] == 0x01 ? value : (value << 8) + (value >> 8);
 }
 
-const char* LDS_LDLIDAR_LD14P::getModelName() { return "LDLIDAR LD14P"; }
+const char* LDS_LDROBOT_LD14P::getModelName() { return "LDROBOT LD14P"; }
diff --git a/src/LDS_LDLIDAR_LD14P.h → src/LDS_LDROBOT_LD14P.h b/src/LDS_LDLIDAR_LD14P.h → src/LDS_LDROBOT_LD14P.h
@@ -15,7 +15,7 @@
 #pragma once
 #include "LDS.h"
 
-class LDS_LDLIDAR_LD14P : public LDS {
+class LDS_LDROBOT_LD14P : public LDS {
   public:
     virtual void init() override;
 

diff --git a/src/lds_all_models.h b/src/lds_all_models.h
@@ -25,6 +25,6 @@
 #include "LDS_DELTA_2A_230400.h"
 #include "LDS_DELTA_2B.h"
 #include "LDS_DELTA_2G.h"
-#include "LDS_LDLIDAR_LD14P.h"
+#include "LDS_LDROBOT_LD14P.h"
 #include "LDS_CAMSENSE_X1.h"
 //#include "LDS_HLS_LFCD2.h"