adafruit-rplidar

Introduction

Provide an interface to the SlamTec RPLidar A1.

Eventual goal is for the single module to work with both Linux (via /dev/USB0, etc) and CircuitPython (via a UART instance)

Usage Example

import os
from math import cos, sin, pi, floor
import pygame
from adafruit_circuitpython_rplidar import RPLidar

# Set up pygame and the display
os.putenv('SDL_FBDEV', '/dev/fb1')
pygame.init()
lcd = pygame.display.set_mode((320,240))
pygame.mouse.set_visible(False)
lcd.fill((0,0,0))
pygame.display.update()

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

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

def process_data(data):
    # Do something useful with the data
    pass

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('Stoping.')
lidar.stop()
lidar.disconnect()

Contributing

Contributions are welcome! Please read our Code of Conduct before contributing to help this project stay welcoming.