Abstract
A light detection and ranging (LIDAR) system includes a light source to emit light and a scanner. The scanner includes a fixed first portion including one or more coils, a rotatable second portion including one or more magnets and flexure components which oscillate in response to the one or more coils being driven, a scan element to rotate via rotation of the rotatable second portion and to direct the light emitted by the light source to an environment of a vehicle, an encoder to output a first signal indicating position or direction information associated with rotation of the rotatable second portion when the one or more coils are driven, and one or more controllers to provide an input associated with driving the one or more coils and to adjust the input based on the first signal output by the encoder and a second signal associated with the input.