Interface Protocol

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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2019 Shanghai Slamtec Co., Ltd.
Figure 4-7 Angle and Distance Value Geometric Definition for RPLIDAR A2
series
Figure 4-8 The Communication Status after Host System Sending a SCAN
Request
* S of the first scan point of each scan frame are set to 1, otherwise 0.
Express Scan(EXPRESS_SCAN) Request and Response
Notice: This command have two different versions: legacy version and extended version. The legacy
version is reserved for back-compatibility. You may not be able to achieve best performance with
θ
[
0
,
360
)
Interface Lead
A5
20
A5
…
… …
S
=1*
A5
5A
05
00
00
40
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