User Manual

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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2016 Shanghai Slamtec Co., Ltd.
Calculate RPLIDAR Scanning Speed
In most cases, there is no need for a host system to care about the actual RPLIDAR
scanning speed. RPLIDAR ensures the precision of the measurement results using
its build-in self-adaptive motor rotation speed detector.
If an RPLIDAR is required to have a fixed scanning speed, the host system can
control the motor speed using a PWM driver and based on the speed feedback
provided by the algorithm described in this section.
RPLIDAR A1Mx Series
Figure 5-2 Block Diagram of RPLIDAR A1 Speed Detection and Control System
RPLIDAR A2 Mx Series
Figure 5-3 Block Diagram of RPLIDAR A2 Speed Detection and Control System
The host system can keep recording the interval time between two adjacent
measurement sample data response with the start flag bit S set to 1 (S=1), called
Core System
Motor
Rotation Speed
Detector
PWM Motor Driver
Data Interface
Host System
RPLIDAR
Core System
PWM Motor Driver
Rotation Speed
Detector
PWM
Data Interface
Host System
RPLIDAR A2
Motor