User Manual

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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2016 Shanghai Slamtec Co., Ltd.
RPLIDAR, except for the RPLIDAR that is in the Protection Stop State, will enter the
scanning state once it receives this request from a host system. Each measurement
sample result will be sent out using an individual data response packet. If the
RPLIDAR has been in scanning state already, it will stop the current measurement
sampling and start a new round of scanning. This request will be ignored when
RPLIDAR is in the Protection Stop state.
The related response descriptor will be sent out by RPLIDAR immediately once it
receives the request and accepts it. The data response packets related to every
measurement sample results will be sent out continuously only after the motor
rotation becomes stable. RPLIDAR will leave the Scanning state once it receives a
new request from the host system or it detects something is wrong.
Format of the Data Response Packets：
Figure 4-4 Format of a RPLIDAR Measurement Result Data Response Packet
A5
20
Request Packet:
A5
5A
Response Descriptor:
05
00
00
40
81
Response Mode:
Multiple
Data Response Length:
5 bytes
Quality
S


8
2
1
0
angle_q6[6:0]
C
8
1
0
angle_q6[14:7]
8
0
distance_q2[7:0]
8
0
distance_q2[15:8]
8
0
+0
+1
+2
+3
+4
Byte Offset