README.md~

Laser-Profilometer
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Code for a stm32f4 microcontroller (dev board) to control an XY stage and interact with Keyence LT-9010 laser profilometer to create 3D scans of surfaces.

Uses the C++ framework xpcc (see https://github.com/roboterclubaachen/xpcc for code and license). A copy is included because a modified UartHandler is used.

Uses cascaded PID controller to control DC brushed motors equipped with optical rotary encoders.

A GUI using QT 5.2 can display the current position and measurement. A command line program can be used to manually control the stage and define vertices for a rectangular area.



![Surface scan of an english 1 pence coin visualized in MATLAB](https://raw.githubusercontent.com/jrahlf/Laser-Profilometer/master/images/coinScan.png)

![Screenshot of the PC side GUI](https://raw.githubusercontent.com/jrahlf/Laser-Profilometer/master/images/pcGui.png)