{"id":51530727,"url":"https://github.com/pschatzmann/ldrobot-lidar-stl","last_synced_at":"2026-07-09T02:01:08.408Z","repository":{"id":351254139,"uuid":"1210190974","full_name":"pschatzmann/LDROBOT-LIDAR-STL","owner":"pschatzmann","description":"Library for LDROBOT LD19,  LD06, STL-19P","archived":false,"fork":false,"pushed_at":"2026-04-14T07:57:17.000Z","size":1435,"stargazers_count":1,"open_issues_count":0,"forks_count":0,"subscribers_count":0,"default_branch":"main","last_synced_at":"2026-04-14T09:30:14.265Z","etag":null,"topics":["arduino-library","cmake","ld06","ld19","ldrobot","lidar","stl-19p"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/pschatzmann.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null,"notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2026-04-14T07:08:28.000Z","updated_at":"2026-04-14T07:57:21.000Z","dependencies_parsed_at":null,"dependency_job_id":null,"html_url":"https://github.com/pschatzmann/LDROBOT-LIDAR-STL","commit_stats":null,"previous_names":["pschatzmann/ldrobot-lidar-stl"],"tags_count":null,"template":false,"template_full_name":null,"purl":"pkg:github/pschatzmann/LDROBOT-LIDAR-STL","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/pschatzmann%2FLDROBOT-LIDAR-STL","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/pschatzmann%2FLDROBOT-LIDAR-STL/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/pschatzmann%2FLDROBOT-LIDAR-STL/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/pschatzmann%2FLDROBOT-LIDAR-STL/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/pschatzmann","download_url":"https://codeload.github.com/pschatzmann/LDROBOT-LIDAR-STL/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/pschatzmann%2FLDROBOT-LIDAR-STL/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":35283905,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-05-26T15:22:16.424Z","status":"online","status_checked_at":"2026-07-09T02:00:07.329Z","response_time":57,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["arduino-library","cmake","ld06","ld19","ldrobot","lidar","stl-19p"],"created_at":"2026-07-09T02:01:06.341Z","updated_at":"2026-07-09T02:01:08.401Z","avatar_url":"https://github.com/pschatzmann.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# LDROBOT-LIDAR-STL\n\n[![Arduino Library](https://img.shields.io/badge/Arduino-Library-blue.svg)](https://www.arduino.cc/reference/en/libraries/)\n[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)\n\n\nArduino library for the LDRobot D500 LIDAR (STL-19P).\n\n![D500 LiDAR](docs/D500.png)\n\nThis library parses STL-19P scan packets from an Arduino `Stream`, validates the packet CRC, interpolates point angles, converts angle and distance units, and returns decoded samples through a callback. If you are doing SLAM you can use the `is_obstacle` flag to determine if the reported distance is an obstacle or obstacle-free.\n\n### Notes\n\n- If no result callback is registered, decoded points are printed to `Serial` by default.\n- The baud rate must be set to 230400 bit 1 stop bit\n- This library can also be used with and w/o Arduino Emulator on the desktop: e.g Linux\n\n### Supported Lidars\n\nThe following variants should be working with this library:\n- LD19\n- STL-19P\n- LD06\n- D300 (kit)\n- D500 (kit)\n\n## Pinout\n\nPins from left to right:\n1) Tx Output LiDAR signal output 3.3V \n2) PWM Input Motor control signal 3.3V  (0V-3.6V)\n3) GND Power Power ground (negative) - 0V \n4) P5V Power Power positive  5V (4.5V-5.5V)\n\nThe serial output should be at 3.3V logic level.\nIf you do not provide an PWM Motor Control set the value to GND\n\n## Features\n\n- Parses STL-19P serial packets directly from any Arduino `Stream`\n- Validates frames with CRC-8\n- Emits one decoded result per sample\n\n- Result supports multiple angle units:\n\n  - `LidarAngleUnit::DEG`: 0 - 360 degree clock wise \n  - `LidarAngleUnit::RAD`: 0 - 2*PI clock wise\n  - `LidarAngleUnit::DEG_ROS`: 0 forward, + left, - right\n  - `LidarAngleUnit::RAD_ROS`: 0 forward, + left, - right in radian\n\n- Result supports multiple distance units:\n\n  - `LidarDistanceUnit::MM`\n  - `LidarDistanceUnit::CM`\n  - `LidarDistanceUnit::M`\n  - `LidarDistanceUnit::IN`\n\n- Optional debug output when no callback is registered\n- Optional callback for reading bytes from the lidar\n\n\n## Documentation\n\n- [Examples](examples/)\n- [Class Documentation](https://pschatzmann.github.io/LDROBOT-LIDAR-STL/docs/html/classLidarParserSTL.html)\n\n\n## Installation\n\nFor Arduino, you can download the library as zip and call include Library -\u003e zip library. Or you can git clone this project into the Arduino libraries folder e.g. with\n\n```\ncd  ~/Documents/Arduino/libraries\ngit clone https://github.com/pschatzmann/TinyRobotics.git\n```\n\nThe Arduino libraries directory depends on the OS:\n\n- Linux: `~/Arduino/libraries/`\n- macOS: `~/Documents/Arduino/libraries/`\n- Windows: `Documents/Arduino/libraries/`\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fpschatzmann%2Fldrobot-lidar-stl","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fpschatzmann%2Fldrobot-lidar-stl","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fpschatzmann%2Fldrobot-lidar-stl/lists"}