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@@ -52,7 +52,7 @@ The project enables a robot to interface with multiple **VL53L7CX** sensors, eac
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The **VL53L7CX** sensor provides accurate distance measurements using Time-of-Flight (ToF) technology. It features a 8x8 and 4x4 grid of measurement zones, making it ideal for spatial awareness and environmental scanning.
The **VL53L7CX** sensor provides accurate distance measurements using Time-of-Flight (ToF) technology. It features a 8x8 and 4x4 grid of measurement zones and a refresh rate up up to 15 Mesurements per second, making it ideal for spatial awareness and environmental scanning.
## Features
## Features
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To run this project, you will need the following hardware:
To run this project, you will need the following hardware:
1.**Microcontroller**: Any board compatible with Arduino, such as:
1.**Microcontroller**: Any board compatible with Arduino and two I2C Interfaces, such as:
-**RP2040** (e.g., Raspberry Pi Pico)
-**RP2040** (e.g., Raspberry Pi Pico)
2.**VL53L7CX Sensors**:
2.**VL53L7CX Sensors**:
- At least one **VL53L7CX** sensor, but the project supports up to four sensors at the moment for broader coverage.
- At least one **VL53L7CX** sensor, but the project supports up to 18 sensors at the moment for broader coverage.
3.**I2C Connections**:
3.**I2C Connections**:
- Connect each sensor via I2C to the microcontroller. Ensure proper wiring and pull-up resistors are in place.
- Connect each sensor to the microcontroller via I2C. Ensure proper wiring and distribute the data load evenly by connecting up to 9 sensors per I2C interface.
4.**LED for Status**:
4.**PCF8575 Modules**:
- Two **PCF8575 I2C GPIO expanders** are used during initialization to enable and disable I2C communication with each sensor. This allows assigning unique I2C addresses to the sensors dynamically.
5.**LED for Status**:
- An onboard LED or external LED connected to the **LED_BUILTIN** pin for visual feedback.
- An onboard LED or external LED connected to the **LED_BUILTIN** pin for visual feedback.
### Wiring Diagram Example
### Wiring Diagram Example
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### Data Collection
### Data Collection
The microcontroller collects distance data from each sensor via the I2C bus. The data is then processed and formatted into a JSON object. This JSON object includes the distance measurements from all sensors. The formatted data is transmitted to the ROS2 node for further processing.
The process of measuring distances using the VL53L7CX sensors is called **ranging**. The microcontroller collects distance data from each sensor via the I2C bus. The data is then processed and formatted into a JSON object. This JSON object includes the distance measurements from all sensors and the status of all measurements. The formatted data is transmitted to the ROS2 node for further processing.
## Example Output
## Example Output
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@@ -133,19 +135,29 @@ Below is an example of the JSON output generated by the system:
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