Python 3 binding for YDLidar X4
This is a fork of PyLidar3: https://github.com/lakshmanmallidi/PyLidar3 The original Lib support only an angle resolution of 1° - this fork allow to get 0.1° new argument: step_angle = factor for dividing angles (10: 1 value each 0.1°,2: 1 value each 0.5°)
=> Pull request asked to PyLidar3
pyserial time math enum
This package consists of multiple classes representing the version of lidar you are using. The class structure is YdLidarX4 where X4 is version name ydlidar.
YdLidarX4 Arguments: port, chunk_size(default:6000), step_angle (default:10).
port: serial port to which device is connected. Example: com4, /dev/ttyAMC0.
chunk_size: Number of bytes of data read from device. Increase in chunk_size results in more averaged angle:distance pairs but increase response time result in slower data acquisition. For faster data acquisition decrease chunk_size.
step_angle: 1/desired setp angle (10: 1 value each 0.1°,2: 1 value each 0.5°)
Note: Calibrate chunk size depends on your application and frequency of device. if the chunk size is not enough not all angles are covered. Connect -- Begin serial connection with Lidar by opening serial port. Return success status True/False.
StartScanning -- Begin the lidar and returns a generator which returns a dictionary consisting angle(degrees) and distance(millimeters). Return Format : {angle(0):distance, angle(0+1/step_angle):distance,....................,angle(360):distance}
StopScanning -- Stops scanning but keeps serial connection alive.
GetHealthStatus -- Returns True if Health of lidar is good else returns False
GetDeviceInfo -- Returns Information of Lidar version, serial number etc.
Reset -- Reboot the lidar
Disconnect -- Stop scanning and close serial communication with Lidar.