SLAMTEC RPLiDAR A2 C++ Library

API

- RPLidar class

bool RPLidar::init_port(const char* serial_path)

• Initializes internal buffers and Serial Port.
• Stops scans and motor.
• Returns the success of the operation.

bool RPLidar::start()

• Starts the motor of the lidar.
• Waits 2 seconds for its speed to stabilize.
• Starts Express Scans (see the RPLidar A1&A2 Communication protocol note).
• Returns true in case of success for both the motor start and scan start operations.

bool RPLidar::stop()

• Stops current Scan.
• Stops the motor of the lidar(tries rp_values::NUMBER_PWM_TRIES times as we do not have any information on the success).
• Returns true in case of success for both the motor stop and scan stop operations.

bool RPLidar::close()

• Closes file descriptor for the used serial port.
• Returns the success of the file close operation.