Household Robot Project Ep5. :: Point Clouds and Odometry

Finally after pushing past getting the basics up and running, I venture into the robot's navigation system using a point cloud from the ToF camera(LiDar) and deal with the problems encountered there.

[@PatrickHoodDaniel]

Love this project!

[@danialothman]

that encoder magnetic interference was really insightful Joe, great video!

[@Zagitta001]

Bruh the I2C chip select is completely uneccesary, I2C supports multiple chips on the same bus by virtue of I2C addresses!

[@joethieman9400]

You made me look back at the datasheet just to make sure.. 😅
In my case, I'm using the AS5600 magnetic encoder, which has a fixed I2C address of 0x36, and I need two of them, so since they're on the same address I needed another way of addressing them so they don't try and talk over each other. :)

[@QuanrumPresence]

@@joethieman9400 Damn, that's just sad way of making chips with fixed address. Shooting their own foot, like they couldn't think of an application with two chips?

[@joethieman9400]

@@QuanrumPresence Right? Unfortunately, I find this very common in cheap sensors... And in this project most sensors will be used in pairs, at least.