TFmini 360°(almost) lidar

geofrancis · August 17, 2022, 8:48am

I have got some non blocking servo code working so I can slow down the scan rate,

geofrancis/Mavlink-servo-Sonar/blob/main/sweeping_sonar.ino

// Includes
#include "mavlink/common/mavlink.h"        // Mavlink interface
#include "mavlink/common/mavlink_msg_obstacle_distance.h"
#include <Servo.h>


#define POTI_PIN A0
#define FCbaud 1500000
#define sonarbaud 9600

int pothigh = 700;
int potlow = 300;

int res = 2;
int FOV = 120;


int potiValue = 0;
 //multiple of res and even(res is 3 degree for the TF02-pro)
int lidarAngle = 0;

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