- 1 × TF-Luna LiDAR
- 2 × MG90S Servos (Pan & Tilt)
- 1 × Raspberry Pi 4 Model B
- Separate 5 V power supply for servos
| Pin | Connection |
|---|---|
| 5 V | Pin 2 (5 V power) |
| RXD | Pin 8 (GPIO14) |
| TXD | Pin 10 (GPIO15) |
| GND | Pin 6 (Ground) |
| Wire | Connection |
|---|---|
| Orange | Pin 12 (GPIO18) |
| Red | 5 V from separate power supply |
| Brown | GND (connect all grounds together) |
| Wire | Connection |
|---|---|
| Orange | Pin 11 (GPIO17) |
| Red | 5 V from separate power supply |
| Brown | GND (connect all grounds together) |
Note: Make sure all grounds are connected together
The room_map program sweeps the pan and tilt servos across the room, taking distance measurements from the TF-Luna LiDAR at each position. It logs the raw pan, tilt, and distance values to a file and can also display the data live. This allows you to map the room in a 3D-like coordinate system, which can later be visualized in Python.
