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ENSTABretagneRobotics / Hardware-MATLAB

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How to control motor pwm or moving of RPLIDAR A1 in matlab #7

Open wnghdwnsrl opened 3 years ago

wnghdwnsrl commented 3 years ago

Hello, I 'm using RPLIDAR A1 for project in matlab 2019b but there are two problem using it.

  1. I can't control RPLDIAR A1 pwm by using SetMotorPWMRequestRPLIDAR() or SetLidarSpinSpeedRequestRPLIDAR(). How can i control RPLIDAR A1 pwm another way?( I couldn't understand well ismet55555's issue)
  2. There was a problem using RPLDIAR with Dynamixel MX-64 motor to make 3d scan. When i make RPLIDAR scan while MX-64 tilt repeatedly, it looks odd. The code is when MX-64 move, next get points of PRLIDAR by using GetScanDataResponsePRLIDAR(), From the beginning it just get next data after first 360 number of data, not the data after MX-64 move. I just thought it could solve by making this operate like RPLIDAR scan just once 360points and MX-64 move repeatedly. Is there any way to control RPLIDAR stop and turn agian in matlab?
lebarsfa commented 3 years ago

Hello,

  1. I am not sure if there is a software way to control the speed of the A1, in my comment https://github.com/ENSTABretagneRobotics/Hardware-MATLAB/issues/5#issuecomment-687453718 I was not mentioning the A1 because of the comments in https://github.com/Slamtec/rplidar_sdk/blob/504a2e5dfb544124c3edbb94419f866ed274b99c/sdk/sdk/include/rplidar_driver.h#L180, you might need to ask SLAMTEC if there is an undocumented way to do that...
  2. Maybe try StopMotorRPLIDAR() and StartMotorRPLIDAR() that I just added in https://github.com/ENSTABretagneRobotics/Hardware-MATLAB/releases/download/v1.5.3/hardwarex_with_3rd_support.zip (not tested), but I am not sure this would be a viable workaround...
wnghdwnsrl commented 3 years ago

Thank you for your comment!

StartMotorRPLIDAR() and StopMotorRPLIDAR() function in hardwarex_with_3rd_support file are working.

Thank you for your help again

wnghdwnsrl commented 3 years ago

Hello, I used StartMotorRPLIDAR() and StopMotorRPLIDAR() functions well But there is another problem using two functions. When I stopped motor and started RPLIDAR A1 again, GetScanDataResponse() didn't work and matlab had forcely ended. (exit all pages). Is there any solutions about this problem?

lebarsfa commented 3 years ago

Maybe before the StopMotorRPLIDAR(), we need StopRequestRPLIDAR(), and after StartMotorRPLIDAR(), we need StartScanRequestRPLIDAR() before calling GetScanDataResponse(). If it does not work, in test_rplidar.m, check https://github.com/ENSTABretagneRobotics/Hardware-MATLAB/blob/e4512bcb3285fe7d0d557c54c422f6eebd096148/test_rplidar.m#L7-L16 where it is suggested that if you set bStartScanModeAtStartup to 0 in RPLIDAR0.txt you need to uncomment those lines. Maybe you will need to follow a similar logic after the StartMotorRPLIDAR()...

wnghdwnsrl commented 3 years ago

Thank you, it works well with no errors. but i have one more question. when I stop and restart motor and move RPLIDAR A1 scan area, then it scans just before data( not new area). I think i need to clear buffer to scan new data. If I want to clear RPLIDAR A1 buffer, Is there any solution that you can advise?

lebarsfa commented 3 years ago

I just added ClearCacheRPLIDAR() (which calls clearNetSerialRxCache() from the SLAMTEC C++ SDK), see v1.5.5 release : https://github.com/ENSTABretagneRobotics/Hardware-MATLAB/releases/tag/v1.5.5. Otherwise, I do not see an obvious way to solve this problem...