PBS-03JN Laser Finder Sensor 사용해 보기

저번에는 단순하게 레이저 파인더 센서가 작동이 되는지만 알아보았는데, SLAM 알고리즘을
테스트 하기 위해서 C#으로 간단하게 센서 데이터 값을 받아 보았습니다.

센서의 측정 범위가 2m 까지이기 때문에 그 이상의 거리에서는 쓰레기 값이 들어와서 이 부분에 대한
필터링을 해줄 필요가 있었습니다.

a) First, it transmits link certified code acquisition command and receives certified code generating data.
Then, it calculates CRC with 16 bits of this 8 byte data and let this be a certified code.

b) After setting 1 as usual level to link level and numerical value which was calculated in item a) to certified code,
it transmits link certified command. If link level for received link certified command is 1(Usual level), link is
established. Due to keep link, it transmits link certified command with same certified code at a fixed interval
again. PBS cuts link automatically when 3 sec. passed after receiving link certified command finally. In case
that link is cut, redo acquisition of link certified code.

c) If it transmits distance data acquisition command at the time of link established, it can receive distance data just
before scanning. Even though it transmits distance data acquisition command at not link established, nothing
from PBS transmit. Even though it transmits several distance data acquisition command within 1 scanning, PBS
transmits distance data only once. Unit of distance data is mm. F000h or more is error and error information
is stored into lower byte. 1 to 121 on distance data means one-line distance at each angle. When the angle
looked at PBS from right above, rightmost of PBS becomes 0 degrees and in case that angle increases counterclockwise,distance data 1 becomes -18 degrees and it increases with 1.8 degrees unit and distance data 121
Becomes 198 degrees.

RS232을 이용해서 데이터를 주고받기 때문에 이 부분에 대한 설명은 따로 언급하지 않았는데, 생각보다
데이터를 주고 받는 부분이 까다로워서 조금 애먹었습니다.

다음에는 LRF 센서와 비전을 가지고 SLAM을 구현해보도록 하겠습니다.