# CAN Lidar (am-5684)
### Overview
The AndyMark Lidar Sensor is a compact, 3.3V CAN device that reports **distance measurements, measurement status, and signal quality data (signal strength and ambient light levels)**. It’s designed for easy integration on robots and test rigs where you need reliable, real-time distance detection.
Use this page to understand what the sensor is good for and how to get started.\
Detailed electrical limits, pinout, and mechanical drawings live on **Specifications**.\
Programming walk-throughs and Java/C++ samples live on **Examples**.
***
#### When to use this sensor
* Detecting the **distance to objects on the field** (game pieces, walls, targets, tape lines).
* **Precision positioning** (aligning to scoring locations, walls, or field elements).
* **Presence / approach detection** (e.g., “object is entering the intake”).
* Monitoring **distance changes over time** (detect motion, confirm mechanisms are working).
* Evaluating **signal quality** to determine if a reading is reliable in real-world conditions.
***
#### What this sensor is not
* It’s not a camera or vision system; it provides a **single distance measurement**, not images or object identification.
* It’s not guaranteed to work equally well on all surfaces (very dark, reflective, or angled targets may reduce performance).
***
#### Highlights (at a glance)
* Time-of-Flight (ToF) based **distance measurement sensor**
* Reports:
* Distance (mm)
* Measurement status (valid / error conditions)
* Signal strength and ambient light (for validation)
* Standard FRC **CAN interface**
* Tunable performance:
* Distance mode (Short / Medium / Long)
* Timing budget (speed vs accuracy)
* Signal thresholds and ROI
* Works with common 3.3 V robot controllers and microcontrollers
* Keyed 4-pin header for simple wiring (see Specifications → Wiring for pin order)
* Example code provided for fast bring-up (see Examples)
***
#### Typical integrations
* Mount on a drivetrain or mechanism for **auto-alignment to field elements**
* Place near an intake to **detect when a game piece is acquired**
* Use for **distance-based triggers** (e.g., stop intake when object detected)
* Install on elevators or arms to **measure position relative to a surface**
* Use in autonomous routines for **precise stopping distance control**
***
#### Best-practice tips
**Tune for your application:**
* Increase timing budget for more stable readings
* Lower minimum signal rate to allow longer-distance detection
* Adjust ROI to focus on a specific target area
**Validate your readings:**
* Always check **Status**
* Use signal strength and ambient values to confirm reliability (see Validation section)
**Mind your target surface:**
* Flat, light-colored surfaces give the best results
* Dark or angled surfaces may reduce signal strength
**Control the environment:**
* Avoid direct exposure to bright lights when possible
* Be aware that sunlight and reflective materials can affect readings
**Test at real distances:**
* Use a tape measure to verify accuracy during setup
* Validate performance at the exact distances your robot will use
**Re-check at events:**
* Field conditions (lighting, materials) can change performance
* Do a quick validation before matches
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