Utilisation d'un LD06 avec un Raspberry Pi pico et un anneau LED

Video youtube du résultat du tutoriel

Installez le board manager pour la Pico.

 
 
Vous devez bracher les composants comme indiqué:
Lidar ld06:
Data (fil blanc) -> GP5
CTL (fil jaune) -> GP4
GND (fil rouge) -> GND
P5V (fil bleu) -> Vbus
 
Anneau LED:
5V (fil rouge) -> Vbus
GND (fil blanc) -> GND
Di (fil vert) -> GP2

 
Télechargez les librairies si ce n'est pas déjà fait Uplodez ce code: 
 
Librairie ld06
Librairie Adafruit

#include <Adafruit_NeoPixel.h>
#include "ld06.h"

#define PIN_LED 2
#define NUMPIXELS 24
Adafruit_NeoPixel pixels(NUMPIXELS, PIN_LED, NEO_GRB + NEO_KHZ800);

#define RX_LIDAR 5
#define PWM_LIDAR 4
#define BAUD_RATE 230400
LD06 ld06(Serial2);

#define DIST_MIN 200
#define DIST_MAX 1000

void setup() {
  Serial.begin(115200);

  pixels.begin();
  pixels.setBrightness(50);
  pixels.show();

  pinMode(PWM_LIDAR, OUTPUT);
  digitalWrite(PWM_LIDAR, HIGH);

  Serial2.setRX(RX_LIDAR);
  Serial2.begin(BAUD_RATE);
  ld06.init();
}

void loop() {
  if (ld06.readScan()) {
    uint16_t min_distances[NUMPIXELS];
    for (int i = 0; i < NUMPIXELS; i++) {
      min_distances[i] = DIST_MAX; 
    }
    uint16_t n = ld06.getNbPointsInScan();
    for (uint16_t i = 0; i < n; i++) {
      uint16_t angle = ld06.getPoints(i)->angle;
      uint16_t distance = ld06.getPoints(i)->distance;
      if (distance > 0) {
        uint8_t sector = (uint8_t)(angle / (360.0 / NUMPIXELS));
        if (distance < min_distances[sector]) {
          min_distances[sector] = distance;
        }
      }
    }
    for (int i = 0; i < NUMPIXELS; i++) {
      uint16_t dist = constrain(min_distances[i], DIST_MIN, DIST_MAX);
      uint8_t r = map(dist, DIST_MIN, DIST_MAX, 255, 0);
      uint8_t g = map(dist, DIST_MIN, DIST_MAX, 0, 255);

      pixels.setPixelColor(i, pixels.Color(r, g, 0));
    }
    pixels.show();
  }
}

Et voilà, vous avez un radar LED!