RPLidar4J
所属分类：人工智能/神经网络/深度学习
开发工具：Java
文件大小：33729KB
下载次数：0
上传日期：2018-08-13 23:39:07
上 传 者：
sh-1993
说明： RPLidar4J，〔弃用〕一个Java库来管理传感器RPLidar A1和RPLidar A2（弃用）使用更好的，库usb-...
([DEPRECATED] A Java library to manage the sensors RPLidar A1 and RPLIDAR A2 (Deprecated) Use better, the library usb-devices)
文件列表:
CHANGELOG.md (300, 2017-08-06)
LICENSE (1057, 2017-08-06)
build.gradle (1218, 2017-08-06)
deploy.gradle (775, 2017-08-06)
docs (0, 2017-08-06)
docs\analysis.xls (159744, 2017-08-06)
docs\ant-libs (0, 2017-08-06)
docs\ant-libs\umlgraph-5.6.6.jar (65451, 2017-08-06)
docs\ant-libs\vizant-0.1.2.jar (16651, 2017-08-06)
docs\build.xml (2713, 2017-08-06)
docs\images (0, 2017-08-06)
docs\images\all_RPLidarA1.jpg (5004274, 2017-08-06)
docs\images\brickiPi+_RPLidarA1.jpg (6198545, 2017-08-06)
docs\images\piStormsV2_RPLidarA1.jpg (198974, 2017-08-06)
docs\images\rplidar_A1.png (47427, 2017-08-06)
docs\images\rplidar_A2.png (40553, 2017-08-06)
docs\images\rplidar_arduino.png (218269, 2017-08-06)
docs\images\stats.png (69231, 2017-08-06)
docs\images\usb-devices.jpg (124258, 2017-08-06)
docs\sdk (0, 2017-08-06)
docs\sdk\datasheet-rplidar.pdf (1297356, 2017-08-06)
docs\sdk\rpk-02-communication-protocol.pdf (1557683, 2017-08-06)
docs\sdk\rpk-02-datasheet.pdf (1250101, 2017-08-06)
docs\sdk\rpk-02-user-manual.pdf (1168312, 2017-08-06)
docs\sdk\rplidar_devkit_manual_en.pdf (1303070, 2017-08-06)
docs\sdk\rplidar_sdk_v1.4.5.7z (11727283, 2017-08-06)
docs\sdk\rplidar_sdk_v1.5.7.zip (4568172, 2017-08-06)
docs\uml (0, 2017-08-06)
docs\uml\graph.dot (24613, 2017-08-06)
docs\uml\graph.png (430943, 2017-08-06)
gradle (0, 2017-08-06)
gradle\wrapper (0, 2017-08-06)
gradle\wrapper\gradle-wrapper.jar (52266, 2017-08-06)
gradle\wrapper\gradle-wrapper.properties (230, 2017-08-06)
gradlew (5080, 2017-08-06)
gradlew.bat (2404, 2017-08-06)
settings.gradle (31, 2017-08-06)
... ...
# RPLidar4J
RPLidar4J, is a Java library designed to manage the sensors [RPLidar A1 & RPLIDAR A2](http://www.slamtec.com/en/Lidar), a 2D LIDAR sensor in a easy way.
[](https://www.versioneye.com/user/projects/59046737e57fd5003857a94f)
# The sensor
RPLIDAR is a low cost 360 degree 2D laser scanner (LIDAR) solution
developed by RoboPeak. The system can perform 360 degree scan within
6 meter range. The produced 2D point cloud data can be used in mapping,
localization and object/environment modeling
RPLIDAR is basically a laser triangulation measurement system.
It can work excellent in all kinds of indoor environment and outdoor
environment without sunlight.
The RPLIDAR adopts coordinate system of the left hand. The dead ahead
of the sensors is the x axis of the coordinate system; the origin is
the rotating center of the range scanner core. The rotation angle
increases as rotating clockwise. The detailed definition is shown in
the following figure:
**Technical docs:**
- [datasheet-rplidar](./docs/sdk/datasheet-rplidar.pdf)
- [communication-protocol](./docs/rpk-02-communication-protocol.pdf)
## Getting Started
### Connect the sensor on your robot
If you adquire a kit, the sensor includes a small
USB Controller. Connect plug the sensor with the USB Controller.
Later, connect the USB Controller to your favourite Brick (EV3, BrickPi+ & PiStorms)
You should notice that the brick turn on the USB Controller and
the sensor start turning. In order to know if EV3Dev recognize
the sensor execute the command `lsusb`:
```
robot@ev3dev:/dev$ lsusb
Bus 001 Device 004: ID 10c4:ea60 Cygnal Integrated Products, Inc. CP210x UART Bridge / myAVR mySmartUSB light
Bus 001 Device 003: ID 0424:ec00 Standard Microsystems Corp. SMSC9512/9514 Fast Ethernet Adapter
Bus 001 Device 002: ID 0424:9514 Standard Microsystems Corp.
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
```
If you detected this element: `Cygnal Integrated Products, Inc. CP210x UART Bridge / myAVR mySmartUSB light`
is a good signal, the USB Controller was recognized in the system.
Once you know that Lynux detect the USB Controller, it is necessary to
know in what device are associated. To list the devices of your brick,
type `ls /dev`:
```
robot@ev3dev:/dev$ ls /dev/
autofs fb1 loop-control memory_bandwidth pts ram4 snd tty14 tty24 tty34 tty44 tty54 tty7 vc-mem vcsa1
block fd loop0 mmcblk0 ram0 ram5 stderr tty15 tty25 tty35 tty45 tty55 tty8 vchiq vcsa2
btrfs-control full loop1 mmcblk0p1 ram1 ram6 stdin tty16 tty26 tty36 tty46 tty56 tty9 vcio vcsa3
bus fuse loop2 mmcblk0p2 ram10 ram7 stdout tty17 tty27 tty37 tty47 tty57 ttyAMA0 vcs vcsa4
cachefiles gpiomem loop3 mqueue ram11 ram8 tty tty18 tty28 tty38 tty48 tty58 ttyS0 vcs1 vcsa5
char hwrng loop4 net ram12 ram9 tty0 tty19 tty29 tty39 tty49 tty59 ttyUSB0 vcs2 vcsa6
console i2c-1 loop5 network_latency ram13 random tty1 tty2 tty3 tty4 tty5 tty6 ttyprintk vcs3 vcsm
cpu_dma_latency initctl loop6 network_throughput ram14 raw tty10 tty20 tty30 tty40 tty50 tty60 uhid vcs4 vhci
cuse input loop7 null ram15 rfkill tty11 tty21 tty31 tty41 tty51 tty61 uinput vcs5 watchdog
disk kmsg mapper ppp ram2 serial tty12 tty22 tty32 tty42 tty52 tty62 urandom vcs6 watchdog0
fb0 log mem ptmx ram3 shm tty13 tty23 tty33 tty43 tty53 tty63 vc-cma vcsa zero
```
If you didnt connect another device on your robot, the device
`ttyUSB0` should be your RPLidarA1 sensor.
### Install librxtx-java
Current implementation uses the library `librxtx-java` to manage
the Serial port communications. This library is very popular on Java
ecosystem. To install the library on your brick, install the following
Debian package:
```
sudo apt-get install librxtx-java
```
When the Debian package is finished, you should be the native library on
the following path: `/usr/lib/jni/`
```
robot@ev3dev:~$ ls /usr/lib/jni/
libopencv_java249.so librxtxI2C.so librxtxParallel.so librxtxRS485.so librxtxRaw.so librxtxSerial.so
librxtxI2C-2.2pre1.so librxtxParallel-2.2pre1.so librxtxRS485-2.2pre1.so librxtxRaw-2.2pre1.so librxtxSerial-2.2pre1.so
```
### Add the dependency on the project
To use this project, import the library as a Maven dependency.
```
com.github.ev3dev-lang-java
RPLidar4J
0.4.0
```
Further information: https://jitpack.io/#ev3dev-lang-java/RPLidar4J/0.4.0
### Using the sensor
Create a new Java project on your favourite IDE and add the following
class on the project:
``` java
package examples;
import ev3dev.sensors.slamtec.RPLidarA1;
import ev3dev.sensors.slamtec.model.Scan;
import lombok.extern.slf4j.Slf4j;
public @Slf4j class Demo {
public static void main(String[] args) throws Exception {
log.info("Testing RPLidar on a EV3 Brick with Java");
final String USBPort = "/dev/ttyUSB0";
final RPLidarA1 lidar = new RPLidarA1(USBPort);
lidar.init();
for(int x = 0; x <= 5; x++){
final Scan scan = lidar.scan();
log.info("Iteration: {}, Measures: {}", x, scan.getDistances().size());
scan.getDistances()
.stream()
.filter((measure) -> measure.getQuality() > 10)
.filter((measure) -> (measure.getAngle() >= 345 || measure.getAngle() <= 15))
.filter((measure) -> measure.getDistance() <= 50)
.forEach(System.out::println);
}
lidar.close();
log.info("End demo");
System.exit(0);
}
}
```
Once, you have the example in your project, create a Jar with the project
and deploy on your Brick using some Plugin for Maven or Gradle.
To run the example this the command:
```
java -Djava.library.path=/usr/lib/jni/ -jar /home/robot/RPLidar4J-all-0.4.0.jar
```
### Output
Example using RPLIDAR A2:
```
java -Djava.library.path=/usr/lib/jni/ -jar /home/robot/RPLidar4J-all-0.4.0.jar
ev3dev#3|17:05:12.652 [main] INFO examples.Demo4 - Testing RPLidar on a EV3Dev with Java
ev3dev#3|17:05:13.075 [main] INFO ev3dev.sensors.slamtec.RPLidarA1Driver - Starting a RPLidarA1 instance
ev3dev#3|17:05:13.086 [main] INFO ev3dev.sensors.slamtec.RPLidarA1Driver - Connecting with: /dev/ttyUSB0
ev3dev#3|17:05:13.392 [main] INFO ev3dev.sensors.slamtec.service.RpLidarLowLevelDriver - Opening port /dev/ttyUSB0
ev3dev#3|Stable Library
ev3dev#3|=========================================
ev3dev#3|Native lib Version = RXTX-2.2pre2
ev3dev#3|Java lib Version = RXTX-2.1-7
ev3dev#3|WARNING: RXTX Version mismatch
ev3dev#3| Jar version = RXTX-2.1-7
ev3dev#3| native lib Version = RXTX-2.2pre2
ev3dev#3|17:05:16.813 [Thread-1] INFO examples.Demo4 - Measures: 51
ev3dev#3|17:05:16.854 [Thread-1] INFO examples.Demo4 - Measures: 2
ev3dev#3|17:05:17.012 [Thread-1] INFO examples.Demo4 - Measures: 311
ev3dev#3|17:05:17.137 [Thread-1] INFO examples.Demo4 - Measures: 289
ev3dev#3|17:05:17.282 [Thread-1] INFO examples.Demo4 - Measures: 271
ev3dev#3|17:05:17.394 [Thread-1] INFO examples.Demo4 - Measures: 257
ev3dev#3|17:05:17.522 [Thread-1] INFO examples.Demo4 - Measures: 246
ev3dev#3|17:05:17.675 [Thread-1] INFO examples.Demo4 - Measures: 236
ev3dev#3|17:05:17.782 [Thread-1] INFO examples.Demo4 - Measures: 228
ev3dev#3|17:05:17.893 [Thread-1] INFO examples.Demo4 - Measures: 223
ev3dev#3|17:05:18.001 [Thread-1] INFO examples.Demo4 - Measures: 216
ev3dev#3|17:05:18.092 [Thread-1] INFO examples.Demo4 - Measures: 212
ev3dev#3|17:05:18.184 [Thread-1] INFO examples.Demo4 - Measures: 208
ev3dev#3|17:05:18.256 [Thread-1] INFO examples.Demo4 - Measures: 204
ev3dev#3|17:05:18.337 [Thread-1] INFO examples.Demo4 - Measures: 199
ev3dev#3|17:05:18.404 [Thread-1] INFO examples.Demo4 - Measures: 197
ev3dev#3|17:05:18.479 [Thread-1] INFO examples.Demo4 - Measures: 194
ev3dev#3|17:05:18.570 [Thread-1] INFO examples.Demo4 - Measures: 191
ev3dev#3|17:05:18.657 [Thread-1] INFO examples.Demo4 - Measures: 191
ev3dev#3|17:05:18.751 [Thread-1] INFO examples.Demo4 - Measures: 188
ev3dev#3|17:05:18.781 [Thread-1] INFO examples.Demo4 - Measures: 80
ev3dev#3|17:05:18.814 [Thread-1] INFO examples.Demo4 - Measures: 107
ev3dev#3|17:05:18.842 [Thread-1] INFO examples.Demo4 - Measures: 186
ev3dev#3|17:05:18.929 [Thread-1] INFO examples.Demo4 - Measures: 183
ev3dev#3|17:05:19.006 [Thread-1] INFO examples.Demo4 - Measures: 180
ev3dev#3|17:05:19.057 [Thread-1] INFO examples.Demo4 - Measures: 53
ev3dev#3|17:05:19.107 [Thread-1] INFO examples.Demo4 - Measures: 125
ev3dev#3|17:05:19.203 [Thread-1] INFO examples.Demo4 - Measures: 178
ev3dev#3|17:05:19.282 [Thread-1] INFO examples.Demo4 - Measures: 138
ev3dev#3|17:05:19.301 [Thread-1] INFO examples.Demo4 - Measures: 1
ev3dev#3|17:05:19.317 [Thread-1] INFO examples.Demo4 - Measures: 1
ev3dev#3|17:05:19.337 [Thread-1] INFO examples.Demo4 - Measures: 36
ev3dev#3|17:05:19.381 [Thread-1] INFO examples.Demo4 - Measures: 177
ev3dev#3|17:05:19.463 [Thread-1] INFO examples.Demo4 - Measures: 176
ev3dev#3|17:05:19.508 [Thread-1] INFO examples.Demo4 - Measures: ***
ev3dev#3|17:05:19.538 [Thread-1] INFO examples.Demo4 - Measures: 50
ev3dev#3|17:05:19.551 [Thread-1] INFO examples.Demo4 - Measures: 1
ev3dev#3|17:05:19.578 [Thread-1] INFO examples.Demo4 - Measures: 58
ev3dev#3|17:05:19.639 [Thread-1] INFO examples.Demo4 - Measures: 175
ev3dev#3|17:05:19.662 [Thread-1] INFO examples.Demo4 - Measures: 18
ev3dev#3|17:05:19.739 [Thread-1] INFO examples.Demo4 - Measures: 156
ev3dev#3|17:05:19.815 [Thread-1] INFO examples.Demo4 - Measures: 174
ev3dev#3|17:05:20.001 [Thread-1] INFO examples.Demo4 - Measures: 326
ev3dev#3|17:05:20.022 [Thread-1] INFO examples.Demo4 - Measures: 20
ev3dev#3|17:05:20.078 [Thread-1] INFO examples.Demo4 - Measures: 174
ev3dev#3|17:05:20.173 [Thread-1] INFO examples.Demo4 - Measures: 172
ev3dev#3|17:05:20.250 [Thread-1] INFO examples.Demo4 - Measures: 172
ev3dev#3|17:05:20.353 [Thread-1] INFO examples.Demo4 - Measures: 172
ev3dev#3|17:05:20.431 [Thread-1] INFO examples.Demo4 - Measures: 171
ev3dev#3|17:05:20.587 [Thread-1] INFO examples.Demo4 - Measures: 174
ev3dev#3|17:05:20.***0 [Thread-1] INFO examples.Demo4 - Measures: 173
ev3dev#3|17:05:20.690 [Thread-1] INFO examples.Demo4 - Measures: 172
ev3dev#3|17:05:20.763 [Thread-1] INFO examples.Demo4 - Measures: 117
ev3dev#3|17:05:20.791 [Thread-1] INFO examples.Demo4 - Measures: 54
ev3dev#3|17:05:20.863 [Thread-1] INFO examples.Demo4 - Measures: 172
ev3dev#3|17:05:20.944 [Thread-1] INFO examples.Demo4 - Measures: 170
ev3dev#3|17:05:21.043 [Thread-1] INFO examples.Demo4 - Measures: 170
ev3dev#3|17:05:21.119 [Thread-1] INFO examples.Demo4 - Measures: 172
ev3dev#3|17:05:21.222 [Thread-1] INFO examples.Demo4 - Measures: 169
ev3dev#3|17:05:21.299 [Thread-1] INFO examples.Demo4 - Measures: 172
ev3dev#3|17:05:21.382 [Thread-1] INFO examples.Demo4 - Measures: 171
ev3dev#3|17:05:21.427 [Thread-1] INFO examples.Demo4 - Measures: 61
ev3dev#3|17:05:21.477 [Thread-1] INFO examples.Demo4 - Measures: 109
ev3dev#3|17:05:21.531 [Thread-1] INFO examples.Demo4 - Measures: 92
ev3dev#3|17:05:21.561 [Thread-1] INFO examples.Demo4 - Measures: 80
ev3dev#3|17:05:21.651 [Thread-1] INFO examples.Demo4 - Measures: 172
ev3dev#3|17:05:21.702 [Thread-1] INFO examples.Demo4 - Measures: 87
ev3dev#3|17:05:21.729 [Thread-1] INFO examples.Demo4 - Measures: 83
ev3dev#3|17:05:21.827 [Thread-1] INFO examples.Demo4 - Measures: 169
ev3dev#3|17:05:21.842 [Thread-1] INFO examples.Demo4 - Measures: 1
ev3dev#3|17:05:21.863 [Thread-1] INFO examples.Demo4 - Measures: 1
ev3dev#3|17:05:21.903 [Thread-1] INFO examples.Demo4 - Measures: 172
ev3dev#3|17:05:21.***3 [Thread-1] INFO examples.Demo4 - Measures: 171
```
Example using RPLIDAR A1:
```
java -Djava.library.path=/usr/lib/jni/ -jar /home/robot/RPLidar4J-all-0.4.0.jar
ev3dev#5|17:09:45.943 [main] INFO examples.Demo4 - Testing RPLidar on a EV3Dev with Java
ev3dev#5|17:09:46.377 [main] INFO ev3dev.sensors.slamtec.RPLidarA1Driver - Starting a RPLidarA1 instance
ev3dev#5|17:09:46.388 [main] INFO ev3dev.sensors.slamtec.RPLidarA1Driver - Connecting with: /dev/ttyUSB1
ev3dev#5|17:09:46.678 [main] INFO ev3dev.sensors.slamtec.service.RpLidarLowLevelDriver - Opening port /dev/ttyUSB1
ev3dev#5|Stable Library
ev3dev#5|=========================================
ev3dev#5|Native lib Version = RXTX-2.2pre2
ev3dev#5|Java lib Version = RXTX-2.1-7
ev3dev#5|WARNING: RXTX Version mismatch
ev3dev#5| Jar version = RXTX-2.1-7
ev3dev#5| native lib Version = RXTX-2.2pre2
ev3dev#5|17:09:50.197 [Thread-1] INFO examples.Demo4 - Measures: 54
ev3dev#5|17:09:50.306 [Thread-1] INFO examples.Demo4 - Measures: 151
ev3dev#5|17:09:50.457 [Thread-1] INFO examples.Demo4 - Measures: 325
ev3dev#5|17:09:50.609 [Thread-1] INFO examples.Demo4 - Measures: 326
ev3dev#5|17:09:50.734 [Thread-1] INFO examples.Demo4 - Measures: 326
ev3dev#5|17:09:50.928 [Thread-1] INFO examples.Demo4 - Measures: 326
ev3dev#5|17:09:50.990 [Thread-1] INFO examples.Demo4 - Measures: 76
ev3dev#5|17:09:51.021 [Thread-1] INFO examples.Demo4 - Measures: 1
ev3dev#5|17:09:51.139 [Thread-1] INFO examples.Demo4 - Measures: 249
ev3dev#5|17:09:51.290 [Thread-1] INFO examples.Demo4 - Measures: 326
ev3dev#5|17:09:51.422 [Thread-1] INFO examples.Demo4 - Measures: 327
ev3dev#5|17:09:51.559 [Thread-1] INFO examples.Demo4 - Measures: 330
ev3dev#5|17:09:51.687 [Thread-1] INFO examples.Demo4 - Measures: 330
ev3dev#5|17:09:51.719 [Thread-1] INFO examples.Demo4 - Measures: 72
ev3dev#5|17:09:51.778 [Thread-1] INFO examples.Demo4 - Measures: 256
ev3dev#5|17:09:51.862 [Thread-1] INFO examples.Demo4 - Measures: 326
ev3dev#5|17:09:52.013 [Thread-1] INFO examples.Demo4 - Measures: 324
ev3dev#5|17:09:52.044 [Thread-1] INFO examples.Demo4 - Measures: 8
ev3dev#5|17:09:52.163 [Thread-1] INFO examples.Demo4 - Measures: 253
ev3dev#5|17:09:52.197 [Thread-1] INFO examples.Demo4 - Measures: 63
ev3dev#5|17:09:52.218 [Thread-1] INFO examples.Demo4 - Measures: 37
ev3dev#5|17:09:52.296 [Thread-1] INFO examples.Demo4 - Measures: 152
ev3dev#5|17:09:52.348 [Thread-1] INFO examples.Demo4 - Measures: 136
ev3dev#5|17:09:52.422 [Thread-1] INFO examples.Demo4 - Measures: 116
ev3dev#5|17:09:52.529 [Thread-1] INFO examples.Demo4 - Measures: 209
ev3dev#5|17:09:52.689 [Thread-1] INFO examples.Demo4 - Measures: 325
ev3dev#5|17:09:52.863 [Thread-1] INFO examples.Demo4 - Measures: 323
ev3dev#5|17:09:53.020 [Thread-1] INFO examples.Demo4 - Measures: 323
ev3dev#5|17:09:53.079 [Thread-1] INFO examples.Demo4 - Measures: 80
ev3dev#5|17:09:53.179 [Thread-1] INFO examples.Demo4 - Measures: 243
ev3dev#5|17:09:53.353 [Thread-1] INFO examples.Demo4 - Measures: 322
ev3dev#5|17:09:53.514 [Thread-1] INFO examples.Demo4 - Measures: 325
ev3dev#5|17:09:53.614 [Thread-1] INFO examples.Demo4 - Measures: 168
ev3dev#5|17:09:53.***7 [Thread-1] INFO examples.Demo4 - Measures: 1
ev3dev#5|17:09:53.697 [Thread-1] INFO examples.Demo4 - Measures: 157
ev3dev#5|17:09:53.844 [Thread-1] INFO examples.Demo4 - Measures: 324
ev3dev#5|17:09:53.972 [Thread-1] INFO examples.Demo4 - Measures: 225
ev3dev#5|17:09:54.207 [Thread-1] INFO examples.Demo4 - Measures: 426
ev3dev#5|17:09:54.258 [Thread-1] INFO examples.Demo4 - Measures: 133
ev3dev#5|17:09:54.285 [Thread-1] INFO examples.Demo4 - Measures: 50
ev3dev#5|17:09:54.306 [Thread-1] INFO examples.Demo4 - Measures: 1
ev3dev#5|17:09:54.335 [Thread-1] INFO examples.Demo4 - Measures: 142
ev3dev#5|17:09:54.518 [Thread-1] INFO examples.Demo4 - Measures: 323
ev3dev#5|17:09:54.618 [Thread-1] INFO examples.Demo4 - Measures: 190
ev3dev#5|17:09:54.672 [Thread-1] INFO examples.Demo4 - Measures: 135
ev3dev#5|17:09:54.749 [Thread-1] INFO examples.Demo4 - Measures: 117
ev3dev#5|17:09:54.854 [Thread-1] INFO examples.Demo4 - Measures: 208
ev3dev#5|17:09:55.011 [Thread-1] INFO examples.Demo4 - Measures: 296
ev3dev#5|17:09:55.038 [Thread-1] INFO examples.Demo4 - Measures: 1
ev3dev#5|17:09:55.067 [Thread-1] INFO examples.Demo4 - Measures: 28
ev3dev#5|17:09:55.137 [Thread-1] INFO examples.Demo4 - Measures: 225
ev3dev#5|17:09:55.188 [Thread-1] INFO examples.Demo4 - Measures: 100
ev3dev#5|17:09:55.347 [Thread-1] INFO examples.Demo4 - Measures: 324
ev3dev#5|17:09:55.400 [Thread-1] INFO examples.Demo4 - Measures: 80
ev3dev#5|17:09:55.503 [Thread-1] INFO examples.Demo4 - Measures: 245
ev3dev#5|17:09:55.681 [Thread-1] INFO examples.Demo4 - Measures: 325
ev3dev#5|17:09:55.718 [Thread-1] INFO examples.Demo4 - Measures: 34
ev3dev#5|17:09:55.784 [Thread-1] INFO examples.Demo4 - Measures: 153
ev3dev#5|17:09:55.838 [Thread-1] INFO examples.Demo4 - Measures: 139
ev3dev#5|17:09:55.911 [Thread-1] INFO examples.Demo4 - Measures: 112
ev3dev#5|17:09:55.929 [Thread-1] INFO examples.Demo4 - Measures: 1
ev3dev#5|17:09:56.017 [Thread-1] INFO examples.Demo4 - Measures: 212
ev3dev#5|17:09:56.179 [Thread-1] INFO examples.Demo4 - Measures: 325
ev3dev#5|17:09:56.353 [Thread-1] INFO examples.Demo4 - Measures: 323
ev3dev#5|17:09:56.510 [Thread-1] INFO examples.Demo4 - Measures: 324
ev3dev#5|17:09:56.667 [Thread-1] INFO examples.Demo4 - Measures: 326
ev3dev#5|17:09:56.845 [Thread-1] INFO examples.Demo4 - Measures: 325
ev3dev#5|17:09:56.867 [Thread-1] INFO examples.Demo4 - Measures: 28
ev3dev#5|17:09:56.944 [Thread-1] INFO examples.Demo4 - Measures: 152
ev3dev#5|17:09:57.000 [Thread-1] INFO examples.Demo4 - Measures: 146
ev3dev#5|17:09:57.185 [Thread-1] INFO examples.Demo4 - Measures: 326
ev3dev#5|17:09:57.229 [Thread-1] INFO examples.Demo4 - Measures: 33
ev3dev#5|17:09:57.334 [Thread-1] INFO examples.Demo4 - Measures: 293
```
## Stats
It is interesting the comparative between both models using the library:
## Acknowledgements
Many Thanks Peter Abeles by the initial development:
https://github.com/lessthanoptimal/jrplidar
## UML Design
## TODO
- Improve the Design solution
- Refactor Service layer
- Add LeJOS Sensor support
- Add Mock test
近期下载者：
相关文件：
收藏者：