Communication Protocol

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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2019 Shanghai Slamtec Co., Ltd.
Force Scan(FORCE_SCAN) Request and Response
A force scan (FORCE_SCAN) request forces RPLIDAR to start measurement sampling
and send out the results immediately once it receives this request. This request is
useful for device debugging.
RPLIDAR uses the similar processing logic for this request and the same response
format as the one of the scan(SCAN) request, but uses the different response format.
A5
21
Request Packet:
A5
5A
Response Descriptor:
05
00
00
40
81
Response Mode:
Multiple
Data Response Length:
5 bytes