User Manual

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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2016 Shanghai Slamtec Co., Ltd.
Image and Table Index
FIGURE 1-1 THE COMMUNICATION BETWEEN RPLIDAR AND HOST SYSTEM ..................................................... 3
FIGURE 2-1 RPLIDAR REQUEST/RESPONSE MODES ............................................................................................ 4
FIGURE 2-2 RPLIDAR SINGLE REQUEST - MULTIPLE RESPONSE MODE .............................................................. 5
FIGURE 2-3 RPLIDAR SINGLE REQUEST-NO RESPONSE MODE .......................................................................... 6
FIGURE 2-4 RPLIDAR REQUEST PACKETS’ FORMAT .......................................................................................... 7
FIGURE 2-5 RESPONSE PACKETS SENT DURING A SINGLE REQUEST-SINGLE RESPONSE MODE ........................... 8
FIGURE 2-6 RESPONSE PACKETS SENT DURING A SINGLE REQUEST-MULTIPLE RESPONSE MODE ....................... 8
FIGURE 2-7 RPLIDAR RESPONSE DESCRIPTORS’ FORMAT ................................................................................ 8
FIGURE 2-8 RPLIDAR DATA RESPONSE PACKETS VALUE ..................................................................................... 9
FIGURE 3-1 RPLIDAR’S MAJOR STATUS TRANSLATION .................................................................................. 10
FIGURE 3-2 RPLIDAR’S WORKING MODE DURING SCANNING ...................................................................... 11
FIGURE 4-1 THE AVAILABLE REQUESTS OF RPLIDAR ......................................................................................... 12
FIGURE 4-2 THE TIMING SEQUENCE OF A STOP REQUEST ................................................................................. 13
FIGURE 4-3 THE TIMING SEQUENCE OF A RESET REQUEST ................................................................................ 13
FIGURE 4-4 FORMAT OF A RPLIDAR MEASUREMENT RESULT DATA RESPONSE PACKET .................................. 14
FIGURE 4-5 FIELD DEFINITION OF A RPLIDAR MEASUREMENT RESULT DATA RESPONSE PACKET ................... 15
FIGURE 4-6 ANGLE AND DISTANCE VALUE GEOMETRIC DEFINITION FOR RPLIDAR A1 SERIES ........................ 15
FIGURE 4-7 ANGLE AND DISTANCE VALUE GEOMETRIC DEFINITION FOR RPLIDAR A2 SERIES ........................ 16
FIGURE 4-8 THE COMMUNICATION STATUS AFTER HOST SYSTEM SENDING A SCAN REQUEST ....................... 16
FIGURE 4-9 FORMAT OF A RPLIDAR EXPRESS SCAN DATA REQUEST PACKET .................................................. 18
FIGURE 4-10 FIELD DEFINITION OF RPLIDAR EXPRESS SCAN DATA REQUEST PACKET .................................... 18
FIGURE 4-11 FORMAT OF A RPLIDAR EXPRESS SCAN DATA RESPONSE PACKET .............................................. 19
FIGURE 4-12 FIELD DEFINITION OF RPLIDAR EXPRESS SCAN DATA RESPONSE PACKET .................................. 20
FIGURE 4-13 FIELD DEFINITION OF RPLIDAR EXPRESS SCAN CABIN DATA RESPONSE PACKET ....................... 21
FIGURE 4-14 THE COMMUNICATION STATUS SENDING OUT THE EXPRESS SCAN REQUEST .............................. 21
FIGURE 4-15 THE ABSTRACT DESCRIPTION FOR THE RESPONSE DATA PACKET OF EXPRESS SCAN REQUEST .... 22
FIGURE 4-16 FORMAT OF A DEVICE INFO DATA RESPONSE PACKET................................................................... 24
FIGURE 4-17 FIELD DEFINITION OF DEVICE INFO DATA RESPONSE PACKET ....................................................... 25
FIGURE 4-18 THE TIMING SEQUENCE OF A GET_INFO REQUEST ...................................................................... 25
FIGURE 4-19 FORMAT OF A DEVICE HEALTH DATA RESPONSE PACKET .............................................................. 26
FIGURE 4-20 FIELD DEFINITION OF DEVICE HEALTH STATUS DATA RESPONSE PACKET ..................................... 26
FIGURE 4-21 FORMAT OF A SAMPLE RATE DATA RESPONSE PACKET ................................................................. 27
FIGURE 4-22 FIELD DEFINITION OF SAMPLE RATE DATA RESPONSE PACKET ..................................................... 28
FIGURE 5-1 RECOMMENDATION FOR STARTING RPLIDAR SCANNING AND DATA RETRIEVING ....................... 29
FIGURE 5-2 BLOCK DIAGRAM OF RPLIDAR A1 SPEED DETECTION AND CONTROL SYSTEM ............................ 30
FIGURE 5-3 BLOCK DIAGRAM OF RPLIDAR A2 SPEED DETECTION AND CONTROL SYSTEM ............................ 30
Appendix