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Communication Protocol

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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2019 Shanghai Slamtec Co., Ltd.
Data Processing of the Express Scan Data (Dense Capsuled Express
Scans)
When working in this express scan mode, every sampling distance value is stored in
the cabin structural body. The distance value is matched with the actual distance
measured in this sampling, and the corresponding angle data can be calculated out
with the start_angle_q6 in this request. The detailed calculation method is shown as
following:
Figure 4-24 The Abstract Description for the Response Data Packet of Express
Scan Request
The symbols in the figure are same as preceding section, but measurement
sampling point 𝐢
ο‡ž
only carries a distance value π·π‘–π‘ π‘‘π‘Žπ‘›π‘π‘’
ο‡ž
. The actual angle πœƒ
ο‡ž
of
π·π‘–π‘ π‘‘π‘Žπ‘›π‘π‘’
ο‡ž
can be obtained as follows:
πœƒ
ο‡ž
= πœ”
ο‡œ
+
𝐴𝑛𝑔𝑙𝑒𝐷𝑖𝑓𝑓(πœ”
ο‡œ
,πœ”
ο‡œο„Ύο„΅
)
40
β‹… π‘˜
where
AngleDiff
(
πœ”
ο‡œ
,πœ”
ο‡œο„Ύο„΅
)
=

πœ”
ο‡œο„Ύο„΅
βˆ’ πœ”
ο‡œ
, πœ”
ο‡œ
≀ πœ”
ο‡œο„Ύο„΅
360 + πœ”
ο‡œο„Ύο„΅
βˆ’ πœ”
ο‡œ
, πœ”
ο‡œ
> πœ”
ο‡œο„Ύο„΅
.
Response descriptor flag S:
After entering express scan mode, the first sent data response packet always has
the S flag set to 1. In the following measuring process, if the angle value cannot be
calculated via the above formula due to rotating speed instability or something
wrong, RPLIDAR will reset the flag S. Then the host system is supposed to restart
the data analysis based on the current response data packet set as flag S.
Start Express Scan
Mode
πœ”
ο„Ά
𝐢
ο„Ά
𝐢
ο„΅
𝐢
ο‡ž
ο„Ύ
ο„΅
𝐢
ο‡ž
𝐢
ο„Έο„΄
𝐢
ο„·ο„½
…
πœ”
ο„΅
𝐢
ο„Ά
𝐢
ο„΅
𝐢
ο„Έο„΄
𝐢
ο„·ο„½
…
πœ”
ο‡œ
𝐢
ο„Ά
𝐢
ο„΅
…
…
The First Data
Re
sponse Packet
C
abin
𝑃
ο„΅
𝑃
ο„Ά
𝑃
ο‡œ
𝐢
ο‡ž
:
(
π·π‘–π‘ π‘‘π‘Žπ‘›π‘π‘’
ο‡ž
)
𝐢
ο‡ž
ο„Ύ
ο„΅
:
(
π·π‘–π‘ π‘‘π‘Žπ‘›π‘π‘’
ο‡ž
ο„Ύ
ο„΅
)
…