Communication Protocol

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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2019 Shanghai Slamtec Co., Ltd.
∆T. The interval time represents how long the RPLIDAR has spent to perform a 360
o
scan. So the actual scan speed can be calculated using the following equation:
RPM =
1
∆𝑇
∗ 60
The calculated value can be used as a feedback to control the motor speed.