.travis.yml (168, 2019-01-09)
gorplidar.go (16190, 2019-01-09)
gorplidar_test.go (202, 2019-01-09)
# Go RPLidar
[](https://godoc.org/github.com/Dolphindalt/gorplidar)
[](https://travis-ci.org/Dolphindalt/gorplidar)
Package gorplidar provides a library to control the Slamtec RPLidar.
Protocol: https://www.robotshop.com/media/files/pdf2/rpk-02-communication-protocol.pdf
This package aims to satisfy the communication protocol specified in the document linked above.
Currently, not all protocols are supported. Configurability could also be improved,
as many options are set by default on instantiation of the RPLidar structure.
## Usage
```go
package main
import (
"fmt"
"log"
"github.com/gorplidar"
)
func main() {
lidar := gorplidar.NewRPLidar("/dev/ttyUSB0", 115200)
lidar.Connect()
status, errcode, err := lidar.Health()
if err != nil {
log.Fatal(err)
} else if status == "Warning" {
log.Printf("Lidar status: %v Error Code: %v\n", status, errcode)
} else if status == "Error" {
log.Fatalf("Lidar status: %v Error Code: %v\n", status, errcode)
}
lidar.StartMotor()
scanResults, err := lidar.StartScan(3)
if err != nil {
log.Fatal(err)
}
for _, p := range scanResults {
fmt.Printf("Quality: %v\tAngle: %.2f\tDistance: %.2f\n", p.Quality, p.Angle, p.Distance)
}
lidar.StopMotor()
lidar.Disconnect()
}
```
## Documentation
https://godoc.org/github.com/Dolphindalt/gorplidar
## License
MIT License
Copyright (c) 2018 Dalton Caron
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
Files from the go-serial library are licensed under the Apache License, Version 2.
Copyright 2014 Michael Phan-Ba
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
Files from the libserialport library are licensed under the GNU Lesset General Public License.
Copyright (C) 2010-2012 Bert Vermeulen
Copyright (C) 2010-2012 Uwe Hermann
Copyright (C) 2013-2014 Martin Ling
Copyright (C) 2013 Matthias Heidbrink
Copyright (C) 2014 Aurelien Jacobs
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as
published by the Free Software Foundation, either version 3 of the
License, or (at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see .