Manual

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When invoking this interface, by default, the SDK will call stopMotor to stop the

rotating of motor. And the SDK will call startMotor to start the rotating of motor

before taking measurement.

Once the user program finishes operation, it can call the disconnect() function

to close the connection and release the serial port device.

Motor Start and Stop Control

The following functions are related to the motor control:

Function Name

Brief Introduction

startMotor()

Request RPLIDAR to start the motor rotating.

For RPLIDAR A1, this interface will enable DTR to set the motor

start rotating by default.

For RPLIDAR A2, this interface will start the motor by using the

default duty cycle and configure the rotating speed.

stopMotor()

Request RPLIDAR to stop the motor rotating.

Figure 3-1 RPLIDAR Functions Related to Motor Control

Note: as described in the previous section, the RPLIDAR SDK will call stopMotor

to stop the rotating of motor by default when invoking the interface connect.

And before the RPLIDAR start taking distance measurement, the startMotor is

required to be called to start the motor rotating.

Measurement Scan and Data Acquiring

The following functions are related to the measurement scan operation and help

user programs to acquire the measurement data: