SLAMTEC RPLIDAR A1接口
adafruit-rplidar的Python项目详细描述
简介
提供与SLAMTEC RPLIDAR A1的接口。
最终目标是让单个模块同时使用Linux（通过/dev/usb0等）和CircuitPython（通过UART实例）
用法示例
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()
贡献
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