RPLidar support
Project description
Introduction
Dependencies
This driver depends on:
Please ensure all dependencies are available on the CircuitPython filesystem. This is easily achieved by downloading the Adafruit library and driver bundle.
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('Stopping.')
lidar.stop()
lidar.disconnect()Contributing
Contributions are welcome! Please read our Code of Conduct before contributing to help this project stay welcoming.
Documentation
For information on building library documentation, please check out this guide.
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