XV Lidar Controller
===================
Control the Neato XV Lidar with an Arduino compatible board

Used as an interface board to connect directly to the Neato XV Lidar and control the rotation speed through Pulse Width Modulation (PWM).

http://www.getsurreal.com/arduino/xv_lidar_controller
https://github.com/getSurreal/XV_Lidar_Controller

Copyright 2014 James LeRoy getSurreal.com

Based on the following work: 
* Nicolas "Xevel" Saugnier https://github.com/bombilee/NXV11/
* Cheng-Lung Lee https://github.com/bombilee/NXV11/tree/master/ArduinoMegaAdapter


##Description
The XV Lidar Controller receives the serial data from the XV Lidar looking for the RPM data embedded in the stream and uses a PID controller to regulate the speed to 300RPMs.  The data received from the Lidar is relayed to the USB connection for some upstream host device (PC, BeagleBone, Raspberry Pi) to process the data.

##Requirements

###Hardware
* Neato XV Lidar - Available on eBay
* Teensy 2.0 http://www.pjrc.com/teensy
* XV Lidar Controller Board by getSurreal http://www.getsurreal.com/arduino/xv_lidar_controller
* Firmware https://github.com/getSurreal/XV_Lidar_Controller


###Software to build from source
* Arduino IDE
* Teensyduino - Software add-on to run Arduino sketches on the Teensy
 http://www.pjrc.com/teensy/teensyduino.html
* Copy the included libraries to the Arduino libraries directory


##Commands
* Help
* GetConfig
* SaveConfig
* ResetConfig
* MotorOff
* MotorOn
* RelayOff
* RelayOn
* SetRPM
* SetKp
* SetKi
* SetKd
* ShowRPM
* HideRPM