> For the complete documentation index, see [llms.txt](https://docs.andymark.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.andymark.com/frc-electronics/can-sensors/can-lidar-am-5684.md).

# CAN Lidar (am-5684)

### Overview <a href="#overview" id="overview"></a>

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**.

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#### When to use this sensor <a href="#when-to-use-this-sensor" id="when-to-use-this-sensor"></a>

* 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.

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#### What this sensor is not <a href="#what-this-sensor-is-not" id="what-this-sensor-is-not"></a>

* 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).

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#### Highlights (at a glance) <a href="#highlights-at-a-glance" id="highlights-at-a-glance"></a>

* 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)

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#### Typical integrations <a href="#typical-integrations" id="typical-integrations"></a>

* 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**

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#### Best-practice tips <a href="#best-practice-tips" id="best-practice-tips"></a>

**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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