User Manual
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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2016 Shanghai Slamtec Co., Ltd.
The actual included angle
of any measurement sampling point
can be
calculated out via the following formula:
The function
in the above formula is defined as below:
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.
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