Library

How-to Guide

Quick Start

main.cpp

#include <lidar.hpp>

// declare a new instance of Lidar
lidar::Lidar Lidar;

void setup() {

  // declare lidar configuration
  lidar::LidarConfig config = {
      .serial = Serial1, .motor_pin = 19, .motor_speed = 120, .timeout = 300};

  // configure our lidar object
  Lidar.setup(config);

  // launch it as a service in the background
  lidar::startService(Lidar);
}

void loop() {
  // receive a point
  lidar::LidarPoint point = Lidar.getCurrentPoint();
  // process the point
  doSomethingWithThePoint(point);
}

Configuration

To build a new LiDAR instance or service we need to pass on the configuration struct:

lidar::LidarConfig

Attribute	Type	Description
serial	HardwareSerial	defines the hardware serial used
motor_pin	int	pin in esp32 used by lidar's motor
motor_speed	int	motor speed between 120 "slow" and 360 "veryfast"
timeout	int	used to skip data acquistion and move to the next operation

syntax

  lidar::LidarConfig config =
  {
      .serial = Serial1,
      .motor_pin = 19,
      .motor_speed = 120,
      .timeout = 300
  };

Read a point

function used to read the point: LIDAR::Lidar.getCurrentPoint()

lidar::LidarPoint

Attribute	Type	Description
distance	float	distance from lidar to surface in mm
angle	float	relative angle at which the point was detected in degrees
quality	int	quality of the point ranges from 1 low quality - 15 high quality
bool	startBit	not implemented

syntax

  lidar::LidarPoint point = Lidar.getCurrentPoint();