Project Overview
For the COMPENG 2DX4 final project, I had to design a 3D spatial mapping system. The system is comprised of the Texas Instruments MSP432E401Y microcontroller (based off the Cortex M4F processor), the VL53L1X time-of-flight sensor, and a laptop running a custom Python application. By taking several rotation samples from the time-of-flight sensor mounted on a stepper motor, and moving the device forward a set increment in the z-direction, a room can be mapped. The sensor uses i2C to communicate to the MCU, which then uses UART serial to transmit the recorded data in real time to the Python application. Using Open3D's processing library, a point cloud of the area is created. After lines are drawn between all points, the mapping is shown in a new window.
