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

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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)

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

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