def test_simple_express_scan():
from pyrplidar import PyRPlidar
import time
lidar = PyRPlidar()
lidar.connect(port="/dev/ttyUSB0", baudrate=115200, timeout=3)
# Linux : "/dev/ttyUSB0"
# MacOS : "/dev/cu.SLAB_USBtoUART"
# Windows : "COM5"
lidar.set_motor_pwm(500)
time.sleep(2)
scan_generator = lidar.start_scan_express(4)
for count, scan in enumerate(scan_generator()):
print(count, scan)
if count == 20: break
lidar.stop()
lidar.set_motor_pwm(0)
lidar.disconnect()
zaxiscorrection = math.radians(0.0) #
#SET UP Z AXIS STEP SIZE AND STEPPER MOTOR RUN TIME (NO ANGLE SENSOR)
zaxisanglestep = 2 * pi / zaxisindex # 360degrees divided by how many steps to take
zaxisruntime = scanner_support_functions.getzaxisruntime(
frequency, motorsteps, driveratio, m1, m2, zaxisindex, Nscancycles)
timeperrev = zaxisruntime * zaxisindex # this is used to bring the scanner back home after scannning will use it to tune the stepper driver too
# SET UP RPLIDAR
lidar = PyRPlidar()
lidar.connect(port="/dev/ttyUSB0", baudrate=115200,
timeout=5) #USB also can set up uart pins if desired
lidar.set_motor_pwm(
1000) # not needed for RPLIDAR A1 AS YOU CAN'T CHANGE THE SPEED.
scan_generator = lidar.start_scan_express(
0, "raw"
) # raw if using typed data from scanner, not raw for data packed in string
#0,1,2 is the scan type 0 is the express scan it gives 4000 measurements around generally the slower the better the accuracy appears to be
time.sleep(2) # wait for rplidar to finish set up
#open file for writing scan points as ascii
filename = scanner_support_functions.getfilename()
rootname = "_points_a.xyz"
f = open(filename + rootname,
'a') #open point file for appending scan points xyz ascii data
rootname = "_points_b.xyz"
g = open(filename + rootname,
'a') #open point file for appending scan points xyz ascii data
#scanning routine
counter_scan_loops = 0
# scan loop