激光雷达RPLidar的配置（arduino和rasberrypi）

1.arduino配置

arduino文件

#include <RPLidar.h>

// You need to create an driver instance 
RPLidar lidar;

#define RPLIDAR_MOTOR 3 // The PWM pin for control the speed of RPLIDAR's motor.
                        // This pin should connected with the RPLIDAR's MOTOCTRL signal 
                       
                        
void setup() {
   
  // bind the RPLIDAR driver to the arduino hardware serial
  lidar.begin(Serial);
  
  // set pin modes
  pinMode(RPLIDAR_MOTOR, OUTPUT);
}

void loop() {
   
  if (IS_OK(lidar.waitPoint())) {
   
    float distance = lidar.getCurrentPoint().distance; //distance value in mm unit
    float angle    = lidar.getCurrentPoint().angle; //anglue value in degree
    bool  startBit = lidar.getCurrentPoint().startBit; //whether this point is belong to a new scan
    byte  quality  = lidar.getCurrentPoint().quality; //quality of the current measurement
    
    //perform data processing here... 
    
    
  } else {
   
    analogWrite(RPLIDAR_MOTOR, 0); //stop the rplidar motor
    
    // try to detect RPLIDAR... 
    rplidar_response_device_info_t info;
    if (IS_OK(lidar.getDeviceInfo(info, 100))) {
   
       // detected...
       lidar.startScan();
       
       // start motor rotating at max allowed speed
       analogWrite(RPLIDAR_MOTOR, 255);
       delay(1000);
    }
  }
}

头文件RPlidar.h

#pragma once

#include "Arduino.h"
#include "inc/rptypes.h"
#include "inc/rplidar_cmd.h"

struct RPLidarMeasurement
{
   
    float distance;
    float angle;
    uint8_t quality;
    bool  startBit;
};

class RPLidar
{
   
public:
    enum {
   
        RPLIDAR_SERIAL_BAUDRATE = 115200,  
        RPLIDAR_DEFAULT_TIMEOUT = 500,
    };
    
    RPLidar();  
    ~RPLidar();

    // open the given serial interface and try to connect to the RPLIDAR
    bool begin(HardwareSerial &serialobj);

    // close the currently opened serial interface
    void end();
  
    // check whether the serial interface is opened
    bool isOpen(); 

    // ask the RPLIDAR for its health info
    u_result getHealth(rplidar_response_device_health_t & healthinfo, _u32 timeout = RPLIDAR_DEFAULT_TIMEOUT);
    
    // ask the RPLIDAR for its device info like the serial number
    u_result getDeviceInfo(rplidar_response_device_info_t & info, _u32 timeout = RPLIDAR_DEFAULT_TIMEOUT);

    // stop the measurement operation
    u_result stop();

    // start the measurement operation
    u_result startScan(bool force = false, _u32 timeout = RPLIDAR_DEFAULT_TIMEOUT*2);

    // wait for one sample point to arrive
    u_result waitPoint(_u32 timeout = RPLIDAR_DEFAULT_TIMEOUT);
    
    // retrieve currently received sample point
    
    const RPLidarMeasurement & getCurrentPoint()
    {
   
        return _currentMeasurement;
    }

protected:
    u_result _sendCommand(_u8 cmd, const void * payload, size_t payloadsize);
    u_result _waitResponseHeader(rplidar_ans_header_t * header, _u32 timeout);

protected:
    HardwareSerial * _bined_serialdev;  
    RPLidarMeasurement _currentMeasurement;
};

2.raspberryPi配置

'''test example:

from rplidar import RPLidar
lidar = RPLidar('/dev/ttyUSB0')
info = lidar.get_info()
 print(info)
health = lidar.get_health()
print(health)
 for i, scan in enumerate(lidar.iter_scans()):
    print('%d: Got %d measurments' % (i, len(scan)))
    if i > 10:
    break

lidar.stop()
lidar.stop_motor()
lidar.disconnect()
'''
import logging
import sys
import time
import codecs
import serial
import struct
import matplotlib.pyplot as plt
import numpy as np
import matplotlib.animation as animation


SYNC_BYTE = b'\xA5'
SYNC_BYTE2 = b'\x5A'

GET_INFO_BYTE = b'\x50'
GET_HEALTH_BYTE = b'\x52'

STOP_BYTE = b'\x25'
RESET_BYTE = b'\x40'

SCAN_BYTE = b'\x20'
FORCE_SCAN_BYTE = b'\x21'

DESCRIPTOR_LEN = 7
INFO_LEN = 20
HEALTH_LEN = 3

INFO_TYPE = 4
HEALTH_TYPE = 6
SCAN_TYPE = 129

#Constants & Command to start A2 motor