Sensors for measuring LifterHight

[cmarley3-14]

https://github.com/garykac/amhs-robotics-4681/blob/4210af8eab9108ee03218ffa341b8927d5250e9b/workspace/2019%20DeepSpace/src/main/java/frc/robot/LifterHight.java#L18-L52

The concerns that have been brought up include:

• Where do the numbers for ball/hatch heights come from?
• What do the numbers for minMaxOffset and counter.getPeriod() * x / x mean?
• Do we know if they are accurate? (I'm guessing they're untested)
• What units does getDistance() return?
• Does this code for the ultrasonic sensor actually work?
  • i.e. Where did this code come from? What's the source?
  • How specifically does it work?

BTW, kDIOLifterHeightSensor = 2.

[RyanDecker123]

we are not using Ultrasonics in lifterheight

[cmarley3-14]

Wait... so what's the lifter height sensor and counter for? What is it doing?

[garykac]

We need to test the laser distance sensor for measuring the lifter height.

[garykac]

The laser sensors arrived and were sitting on the workbench. I moved them into the "programming" bag hanging on the wall. They're in blue bubble wrap. They need to be wired up and code written to read the values (hopefully, there's a library for them already).

[RyanDecker123]

some resources: http://static.garmin.com/pumac/LIDAR_Lite_v3_Operation_Manual_and_Technical_Specifications.pdf https://docs.px4.io/en/sensor/lidar_lite.html

[cmarley3-14]

This is the source code: https://github.com/GirlsOfSteelRobotics/Docs/wiki/LIDAR-Lite-Distance-Sensor

[cmarley3-14]

The pdf of the roborio with specificatinos for wiring and in/out put stuffs. http://www.ni.com/pdf/manuals/374474a.pdf

We should be wiring according to the left side. If it doesn't work, switch to the right side.

Reading the comments will help decode the code. It may be relevant and helpful. Especially with working with pinouts and how to get data. Otherwise, just refer back to Ryan's code. https://github.com/garmin/LIDARLite_Arduino_Library/blob/master/examples/v3/GetDistancePwm/GetDistancePwm.ino

Has pinout charts (determine which is relevant) and a (possibly relevant) picture at the bootom of webpage. https://docs.px4.io/en/sensor/lidar_lite.html

[Team4681]

https://learn.sparkfun.com/tutorials/lidar-lite-v3-hookup-guide/all

[Team4681]

Code now reads in inches within an inch currently calibrating values but it works

[amhsrobotics4681]

Wiring information on LIDAR:

Wire Color	Function
Red	5Vdc (+)
Orange	Power enable (internal pull-up)
Yellow	Mode control
Green	I2C SCL
Blue	I2C SDA
Black	Ground (-)

(from http://static.garmin.com/pumac/LIDAR_Lite_v3_Operation_Manual_and_Technical_Specifications.pdf)

[amhsrobotics4681]

Wiring info (from https://github.com/GirlsOfSteelRobotics/Docs/wiki/LIDAR-Lite-Distance-Sensor):

roboRIO
DIO Port                           LIDAR-Lite
--------                           --------
Power  __________________________  +5V Power

Signal __________________________  Mode Select
               | 1KOhm
               |_/\/\/\_
Ground _________________|________  Ground

Other wires are not used.

[cmarley3-14]

moved to wiki

[garykac]

The work item here is getting the LIDAR to work and that is not complete.