https://github.com/thijses/rplidar

an (Arduino) library for the RPlidar (A1M8 specifically) and the ESP32
https://github.com/thijses/rplidar

Last synced: about 1 month ago
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an (Arduino) library for the RPlidar (A1M8 specifically) and the ESP32

• Host: GitHub
• URL: https://github.com/thijses/rplidar
• Owner: thijses
• Created: 2022-06-09T17:00:07.000Z (over 2 years ago)
• Default Branch: main
• Last Pushed: 2023-04-30T08:50:09.000Z (over 1 year ago)
• Last Synced: 2023-04-30T09:25:43.174Z (over 1 year ago)
• Language: C++
• Size: 105 KB
• Stars: 1
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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# an arduino (ESP32) library for the rplidar

an (Arduino) library for the RPlidar (A1M8 specifically) and the ESP32

handles all 4 communication protocols layed out by the Slamtec protocol documentation:

- standard scan (2kHz)

- express legacy (4kHz)

- express extended (8kHz)

- express dense (8kHz)

Only tested on the A1M8 on firmware version 1.29 (see source files for getLidarConf() results)

I couldn't find any libraries for RPlidars that actually support all data types.

I bought an A1M8 for a university self-driving racing project, and i'm using it to detect cones (for SLAM and stuff).

still todo:

 - better documentation/examples/comments

 - constant name translation functions (going backwards from 0x84 to "RESP_DESCR_SENDMODE_DATATYPE_EXPRESS_EXTEND")

 - motor PID?

 - make debug printing optional????? (nah)