User Manual

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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2016 Shanghai Slamtec Co., Ltd.
When a host system detects RPLIDAR has entered the Protection Stop state, it can
set a RESET request to let RPLIDAR core system reboot to escape the Protection
Stop state. However, if RPLIDAR enters the Protection Stop state for several times,
this may be a sign of some unrecoverable damage has occurred in RPLIDAR.
Get sample rate(GET_SAMPLERATE) Request
By sending this request, the host system can get the single measurement duration
in standard scan mode and express scan mode respectively and calculate the
current rotating speed of RPLIDAR accurately.
Figure 4-21 Format of a Sample Rate Data Response Packet
The following table describes the filed definition of the above packet.
A5
59
A5
5A
4
00
00
00
15
4 bytes
Request Packet
Response Descriptor:
Response Mode:
Single
Data Response Length:
Tstandard[7:0]
8
0
Tstandard[15:8]
8
0
+0
+1
+2
Texpress[7:0]
8
0
Texpress[15:8]
8
0
+3
Byte Offset: