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November 24, 2010
News - Neato Robotics XV-11 Tear…
about 7 years ago
Looks like four bytes with data straddling bytes (well to a degree) - little endian style. From the looks of it - there is a header of some sort (6bytes - 5A A5 00 C0 xx D1) - the xx seems to be a byte which changes. Then following this is 360 samples - these are composed of 4 bytes each and yes, appears that based on timing from traces - scanner runs at 5Hz. Details of each sample appear to be something like the following:<br />
- Byte 1: Lower Byte of Distance Measurement<br />
- Byte 2: Top 7 bits are status info bits - MSB seems to indicate reading not possible. LSB seems to be part of the distance measurement and is the 9th bit of this value with the 8 other bits being represented by Byte 1. <br />
- Byte 3: Lower Byte of Quality measurement (reflectance etc - who knows) ??? <br />
- Byte 4: Upper Byte of Quality measurement (reflectance etc - who knows)???<br />
What would be most useful is a square box around the device as previously mentioned or putting it in a square room - to get a better feel for the data structure - seems like the current no shield data has too many issues for really solid proof of the above description.<br />
Hope this helps!
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