adafruit-circuitpython-rplidar

Introduction

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.. Provide a convenient interface to the Slamtec RPLidar.

Dependencies

Install with PyPy: pip install Adafruit_CircuitPython_RPLIDAR This driver depends on:

• Adafruit CircuitPython <https://github.com/adafruit/circuitpython>_
• Bus Device <https://github.com/adafruit/Adafruit_CircuitPython_BusDevice>_
• Register <https://github.com/adafruit/Adafruit_CircuitPython_Register>_

Please ensure all dependencies are available on the CircuitPython filesystem. This is easily achieved by downloading the Adafruit library and driver bundle <https://github.com/adafruit/Adafruit_CircuitPython_Bundle>_.

Usage Example

.. code-block:: python

import os
from math import floor
from adafruit_rplidar import RPLidar


# Setup the RPLidar
PORT_NAME = '/dev/ttyUSB0'
lidar = RPLidar(None, PORT_NAME, timeout=3)

# used to scale data to fit on the screen
max_distance = 0

def process_data(data):
    print(data)

scan_data = [0]*360

try:
#    print(lidar.get_info())
    for scan in lidar.iter_scans():
        for (_, angle, distance) in scan:
            scan_data[min([359, floor(angle)])] = distance
        process_data(scan_data)

except KeyboardInterrupt:
    print('Stopping.')
lidar.stop()
lidar.disconnect()

Documentation

API documentation for this library can be found on Read the Docs <https://docs.circuitpython.org/projects/rplidar/en/latest/>_.

For information on building library documentation, please check out this guide <https://learn.adafruit.com/creating-and-sharing-a-circuitpython-library/sharing-our-docs-on-readthedocs#sphinx-5-1>_.

Contributing

Contributions are welcome! Please read our Code of Conduct <https://github.com/adafruit/Adafruit_CircuitPython_RPLIDAR/blob/main/CODE_OF_CONDUCT.md>_ before contributing to help this project stay welcoming.