API Reference rplidar v0.1.0

modules

Modules

Module for interfacing with the RPLidar A1/A2/A3 family of 360-degree LiDAR sensors. The RPLidar module is a GenServer that handles communication to and from the LiDAR device via a UART connection and an optional GPIO for motor control.

Internal module containing functions for decoding messages received from the RPLidar device.

The RPLidar.Frame struct contains a resultant frame produced by the RPLidar.Framer process. Its contents are a list of points and the start and finish timestamps (as returned from System.monotonic_time/0).

The RPLidar.Framer module provides a process that can receive individual points and accumulate them into RPLidar.Frames that represent a single 360-degree rotation of the sensor. These frames are much more useful for certain operations that require a "snapshot" of the ranges to objects around the sensor.