> 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)

![AndyMark CAN Lidar (am-5684)](https://2060440806-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FcQgnvayQud3Xf5sZi0wz%2Fuploads%2Fyx6toHIDOeIqPAaKF3Rl%2Fcan-lidar-am-5684-product.jpg?alt=media)

The **AndyMark CAN Lidar** is a compact Time-of-Flight distance sensor that reports distance, measurement status, signal strength, and ambient-light data over CAN. The CAN version uses a VL53L1X sensing IC and is intended for presence detection, positioning, and distance-based robot actions.

See Specifications for electrical and mechanical limits, Examples for code, Validation for reading-quality checks, and Tuning for configuration guidance.

***

## At a glance

| Parameter                   | Value                          |
| --------------------------- | ------------------------------ |
| AndyMark part number        | am-5684                        |
| Communication               | CAN                            |
| Sensing technology          | VL53L1X Time-of-Flight         |
| Published measurement range | Approximately 30 mm to 4000 mm |
| Field of view               | Approximately 25°              |
| Default CAN ID              | 0                              |
| Maximum input voltage       | 16 V                           |

## When to use this sensor

* Detect a game piece entering an intake or feeder.
* Stop or align a mechanism at a measured distance.
* Maintain spacing from a wall or field element.
* Monitor distance changes while validating a mechanism.
* Use signal and ambient data to reject low-quality measurements.

## Before installation

* Choose a rigid mounting location with an unobstructed view of the target.
* Keep the sensing face protected from impacts, contamination, and direct contact.
* Test the actual target surface; dark, reflective, small, or angled targets may reduce usable range.
* Provide cable support and strain relief near the sensor.
* Configure a unique CAN ID before installing multiple devices that ship with the same default ID.

## Initial checks

1. Verify CAN discovery and the configured device ID.
2. Confirm that the reported distance changes in the expected direction as the target moves.
3. Review the status code before accepting a measurement.
4. Compare signal strength with ambient light under realistic conditions.
5. Validate readings at the exact distances and target angles the robot will use.

## Resources

* [CAN Lidar product page](https://andymark.com/products/lidar-distance-sensor-andymark-standard-sensors?variant=46151725088940)
* Examples
* Device API