Drive control for a scanner of a LIDAR system

A computer-implemented method for controlling rotation of a scan element of a scanner for a light detection and ranging (LIDAR) system for a vehicle, the method comprising:

• providing, by one or more controllers of the scanner, an input associated with driving one or more coils disposed on a fixed first portion of the scanner, to cause a first plurality of flexure components disposed on a rotatable second portion of the scanner to oscillate and the scan element coupled to the rotatable second portion to rotate;
• outputting, by an encoder of the scanner, one or more first signals indicating at least one of position information or direction information associated with rotation of the rotatable second portion;
• and
• adjusting, by the one or more controllers, the input based on the one or more first signals output by the encoder and a second signal associated with the input.

An autonomous vehicle, comprising:

• an autonomous vehicle control system, the autonomous vehicle control system comprising one or more processors and a Light Detection and Ranging (LIDAR) system, the LIDAR system comprising:
• a light source configured to emit light;
• a scanner including:
• a fixed first portion, one or more coils disposed on the fixed first portion,
• a rotatable second portion including one or more magnets and a first plurality of flexure components configured to oscillate in response to the one or more coils being driven,
• a scan element configured to rotate via rotation of the rotatable second portion and to direct the light emitted by the light source to an environment of the autonomous vehicle,
• an encoder configured to output one or more first signals indicating at least one of position information or direction information associated with rotation of the rotatable second portion when the one or more coils are driven, and
• one or more controllers configured to provide an input associated with driving the one or more coils and to adjust the input based on the one or more first signals output by the encoder and a second signal associated with the input.