Scorpi

Development nodes

Raspberry pi

Raspberry pi 5 installation

• enable serial IO hardware (GPIO pin 14,15) - but it doesn't seem to work on pi-5, can't read or write.

Install packages:

libreadline-dev
libopencv-dev
libgpiod-dev
gpiod
cmake
subversion
aptitude
ntp
ntpdate
nmap
lsof
swig
sudo apt install libreadline-dev libopencv-dev libgpiod-dev gpiod cmake subversion aptitude nmap lsof swig

YDLidar (S4B)

YDlidar serial connected like this:

YDLIDAR   cable color   Raspberry 
1 Vcc (5V)   black        4  (5V)
2 Tx         red          10 (GPIO 15) (RxD)
3 Rx         white        8  (GPIO 14)(TxD)
4 Gnd        Yellow       6  (Ground)
5 M_SCP      Orange       18 (GPIO 24)
6 Dev_enable Green        16 (GPIO 23)
7 M_enable   Blue         12 (GPIO 18)
8 NC         Purple       14 (ground, to use all pins)

Software YDLidar-SDK

From Git repository

$ mkdir -p git
$ cd git
$ git clone https://github.com/YDLIDAR/YDLidar-SDK.git
$ cd YDLidar-SDK
$ mkdir build
$ cd build
$ cmake ..
$ make -j4