Communicating with Hokuyo LiDAR using Arduino and Vinculum USB Host Controller

Got a successful comm between Arduino Mega 2560 and Hokuyo URG-04LX-UG01 LiDAR using a Vinculum VDIP1 USB host controller.........

The code sends VV command to Hokuyo LiDAR, and receives response @ 9600 baud. Other commands can be implemented in similar fashion. Advantages over USB Host Shield from Circuits@Home with SPI interface:

1) Much simpler hardware and firmware complexity for interfacing USB slave devices like Hokuyo LiDAR

2) No clashes with any existing or new devices using SPI interface

3) FTDI chip takes of additional drivers for USB host control mode....saves lot of arduino processing as compared to SPI interface drivers.....

Arduino sketch: hokuyo.ino

Hardware Interfacing: interface.jpg

VDIP Operation Mode: Command Mode

Other useful docs: 

- VDIP1 Vinculum VNC1L Module Datasheet

- Vinculum Firmware User Manual


Useful pins on VDIP1 module:

- Power Pins ( Vcc (5V), GND)

- CTS Pin (AD3)

- RTS Pin (AD2)

- RX Pin (AD1)

- TX Pin (AD0)

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DeveloperPermalink Reply by John Arne Birkeland on June 22, 2012 at 2:26pm

Nice. The new ARM based Arduino Due that is going to be released soon, comes with USB host and should be better suited for your needs.

Oh, and please send me the LiDAR when you have finished playing with it. :)

Permalink Reply by Jake Stew on June 22, 2012 at 4:18pm

The "Arduino Due" should probably be called "Arduino Too Late".

A lot of Arduino code is already running fine on STM32 platforms, so there's a good chance it will never really catch on.

Permalink Reply by Anant Rao on June 22, 2012 at 4:19pm

lol...

Permalink Reply by KM6VV on June 22, 2012 at 4:37pm

ARM based, with USB?  That should work!  Can't wait too long, 'tho. 

Yeah, I'm just hoping I can hang on to it for a while...

I don't suppose we have an Arduino lib for the LiDAR anywhere?  Just simple obstacle avoidance?

Alan

Permalink Reply by KM6VV on June 22, 2012 at 4:45pm

I can always toss the case, just wondering if contributed much to the price.  Amazon can be high at times.

Does it come with an OS?  I've heard I can put the OS on a thumb drive.  Just haven't tried it.  Our local robotics club has several members running ROS.  I just need to research a bit!  Rather buy it from Compulab, They say as low as $195, does that get you much?

Alan

Permalink Reply by Anant Rao on June 22, 2012 at 6:02pm

u can buy it with or without sd card.....compulab charges additional $10 for loading ubuntu on it....they'll be happy to give a detailed price quote if u request for it....amazon won't give it with pre-loaded OS.....

we got fitpc2 with sd card and ubuntu loaded (rich spoilt brats :)); the second one (fitpc) frm amazon somehow didn't boot frm the sd card we already had.....had to make a bootable pen drive.....i'm sure it can be done both ways...

Permalink Reply by KM6VV on June 22, 2012 at 7:02pm

SD card could work.  Nice that they supply Ubuntu on it for small price.  I could go for that!  Guess I'll have to RFQ, I didn't see a listed price on Compulab.  What's a pen drive?  Thumb drive?  That's OK too.

How about 2.5" SATA?  Maybe a Robomagellan 'bot would shake it up too much. 

Alan

Permalink Reply by KM6VV on June 25, 2012 at 4:46pm

Requested quote.

Anyone running ROS on it to do navigation?

Alan

Permalink Reply by Anant Rao on June 25, 2012 at 9:39pm

We ran full-fledged ubuntu 10.04 with ROS with navigation and obstacle avoidance algorithms, and some color detection algorithms too on fitpc....here's our project page: 

https://sites.google.com/site/mrsdproject/

Permalink Reply by KM6VV on June 25, 2012 at 9:56pm

That's what I'd like to do.  I'm just getting started.  Need to learn ROS, Ubuntu!

Is there an example available like yours?  I suppose I'll have to write nodes for my Blackfin camera, 9DOF IMU and RoboClaw at least.  How hard is that?

Thanks,

Alan

Permalink Reply by Anant Rao on June 25, 2012 at 10:01pm

To be honest, it takes some time to learn; but its worth the effort. u shd be able to find examples u need online....check out the tutorials on www.ros.org....good place to start...

Permalink Reply by KM6VV on June 26, 2012 at 9:48am

Thanks for the URL.

I just got a reply for my RFQ, they sent me URLs to a Direct Order page.

Looks like they can load Linux Mint.  What's that?  Probably not what I want?

Thanks,

Alan

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