YDLidar GS5 Arduino Library

This repository contains an Arduino library for the YDLidar GS5 solid-state LIDAR sensor.

Features

• Easy-to-use, non-blocking interface.
• Initializes the sensor and parses calibration data automatically.
• Provides a simple function to read LIDAR data points (angle, distance, intensity).
• Compatible with ESP32 and other Arduino-compatible boards with a free HardwareSerial port.

Hardware

• ESP32 NodeMCU Board or any other Arduino-compatible board.
• YDLidar GS5: The LIDAR sensor.

Connections

The connections are simple and use a hardware serial port. The example uses Serial2 on the ESP32.

Board	YDLidar GS5
TX Pin	RX
RX Pin	TX
3.3V	3.3V
GND	GND

Usage

1. Install the library by cloning this repository into your Arduino libraries folder.
2. Open the BasicScan example from File > Examples > YDLidarGS5 > BasicScan.
3. Upload the sketch to your board.
4. Open the Serial Monitor at 115200 baud to see the output.

Example Code

Here is a simple example of how to use the library:

#include <YDLidarGS5.h>

// Define the serial port for the LIDAR
HardwareSerial& lidarSerial = Serial2;

// Create an instance of the YDLidarGS5 class
YDLidarGS5 lidar(lidarSerial);

// Define RX and TX pins for ESP32
#define RX_PIN 16
#define TX_PIN 17

void setup() {
  Serial.begin(115200);
  lidarSerial.begin(921600, SERIAL_8N1, RX_PIN, TX_PIN);

  Serial.println("Starting YDLidar GS5...");

  if (lidar.begin()) {
    Serial.println("LIDAR initialized successfully.");
    if (lidar.startScan()) {
      Serial.println("Scan started.");
    } else {
      Serial.println("Failed to start scan.");
    }
  } else {
    Serial.println("LIDAR initialization failed.");
  }
}

void loop() {
  YDLidarGS5::LidarPoint points[160];
  int count = lidar.readScan(points, 160);

  if (count > 0) {
    Serial.printf("Read %d points:\n", count);
    for (int i = 0; i < count; i++) {
      Serial.printf ("  Angle: %.2f, Distance: %d, Intensity: %d\n",
                    points[i].angle, points[i].distance, points[i].intensity);
    }
  }
}

How to get better accuracy from the sensor

• Stable Power Supply: Ensure a stable 3.3V power supply to the LIDAR. USB power from a computer might be noisy.
• Correct Baud Rate: The baud rate is set to 921600 in the code. Ensure this matches the LIDAR's configuration.
• Shielding: In some environments, external light or other sources of interference can affect the LIDAR's performance. Ensure the sensor is appropriately shielded.