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SLAMbot: TI Evalbot + XV-11 LIDAR

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I've made a daughterboard for the TI Evalbot using the EM connectors. It has a MSP430G2553, Xbee (Bluetooth Bee), and an XV-11 LIDAR. The goal is to eventually get SLAM working with it. 


The LIDAR (laser distance sensor, really) continuously rotates and reports distance values and angular velocity. The MSP430 controls the rotation with PWM and the velocity data, and acts as a SPI slave to the Stellaris on the Evalbot to report distance values. The XBee is connected straight to the Stellaris UART.


Example of the LIDAR in use: http://youtu.be/KnspWPlBM_o


I just got the boards in and soldered them up. Hoping to have some code written up soon.


You can find the design files at: https://github.com/hylian/slambot


PCB: https://dl.dropboxusercontent.com/u/538662/lidarpcb.png

Pictures: http://imgur.com/a/VZSGb

Video: http://youtu.be/v139k2DG388

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