Introduction

Dependencies

This driver depends on:

• Adafruit CircuitPython
• Bus Device
• Register

Please ensure all dependencies are available on the CircuitPython filesystem. This is easily achieved by downloading the Adafruit library and driver bundle.

Usage Example

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('Stopping.')
lidar.stop()
lidar.disconnect()

Contributing

Contributions are welcome! Please read our Code of Conduct before contributing to help this project stay welcoming.

Documentation

For information on building library documentation, please check out this guide.