Product Introduction

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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:

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:

Figure 3-2 RPLIDAR Functions related to Measurement Scan Operation

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.

Function Name

Brief description

startScan()

Request the RPLIDAR core to start measurement scan operation

and send out result data continuously

If the Express Scan mode is supported, and the program invokes

the startScan() by using the default parameters

startScanNormal()

Force the RPLIDAR core to start measurement scan operation in

Scan mode

startScanExpress()

Force the RPLIDAR core to start measurement scan operation in

Express Scan mode. It the RPLIDAR firmware not supports Express

Scan mode, the function will fail the execution.

stop()

Request the RPLIDAR core to stop the me as asurement scan

operation.

grabScanData()

Grab a complete 360-degrees’ scan data sequence.

ascendScanData()

Rank the scan data from grabScanData() as the angle inscreases.