Velodyne VLS-128, User Manual, Page: 81 / 132

pwr_5v = 2046
(raw value)
(2046 * 5.0) / 4096 = 2.498
2.498 * 2.0 = 4.995 V
10.2.3.3.15 bot:pwr_v_in
This is the voltage of the input power. Its operating range is 8.0 V to 19.0 V.
To convert the raw value, use
Equation 10-1 on page 77
then scale the result by multiplying it by 11.0.
Example:
pwr_v_in = 910 (raw value)
(910 * 5.0) / 4096 = 1.111
1.111 * 11.0 = 12.219 V
10.2.3.4 Get Snapshot
Downloads sensor snapshot data to an HDL file. This has the same effect as clicking on the Download Snapshot button
under the Configuration tab.
Command:
curl http://192.168.1.201/cgi/snapshot.hdl > snapshot.hdl
10.2.3.5 Get Sensor Status
Returns sensor state data, such as: GPS PPS is present, GPS position, motor status, phase, and laser states.
Command:
curl http://192.168.1.201/cgi/status.json
Example Response:
{
"gps":{
"pps_state":"Absent",
"position":""
},
"motor":{
"state":"On",
"rpm":600,
"lock":"Off",
"phase":0
},
"laser":{
"state":"On"
}
}
10.2.3.6 Set Motor RPM
Sets the RPM of the motor. Valid integer values range from 300 to 1200, in increments of 60. (If the RPM setting is not
evenly divisible by 60, neither motor speed control nor phase lock functions will function properly.) For values 1
Chapter 10 • Sensor Communication 81
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