wintry tundra
I made a minisumo robot, when I attach the wheels and he drives across the battlefield it seems that he sees floor, I think its because of the ROI set to 27°. I am using in this project 4 TOF sensors - VL53L1X. I was thinking about setting them more to the up to make them see less floor, but that would work only for the side sensors, front sensors are too much in the robot. Somebody programmed those on circuitpython and knows the solution? I have no idea how to program ROI, didnt find any documentation. Sorry for my english if something is not correct.
#Minisumo robot VL53L1X ROI Problem
leaden kiln
FWIW the adafruit_v53l1x source is at https://github.com/adafruit/Adafruit_CircuitPython_VL53L1X/blob/main/adafruit_vl53l1x.py.
Lines 176-177 are
0xC7, # 0x7f : ROI center
0xFF, # 0x80 : XY ROI (X=Width, Y=Height)
The hex numbers in the comments are I2C register addresses. They're in ian array that's used to initialize the device.
From https://www.st.com/en/imaging-and-photonics-solutions/vl53l1x.html#documentation you can download a document <https://www.st.com/resource/en/application_note/an5191-using-the-programmable-region-of-interest-roi-with-the-vl53l1x-stmicroelectronics.pdf, which describes how ROI works, but refers to their driver library, which presumably manipulates those two registers.
Presumably there's a document somewhere at st.com that explains what all the registers are, but I haven't found it.