Slamtec A2M4 Manuel utilisateur

www.slamtec.com

Shanghai Slamtec.Co.,Ltd

RPLIDAR A2

Low Cost 360 Degree Laser Range Scanner

Development Kit User Manual

Model: A2M4

2016-08-17 rev.1.0

CONTENTS ...................................................................................................................................................1

OVERVIEW ...................................................................................................................................................3

ITEMS IN THE DEVELOPMENT KIT .......................................................................................................................3

RPLIDAR A2..................................................................................................................................................... 4

USB ADAPTER....................................................................................................................................................4

CONNECTION AND USAGE .....................................................................................................................5

CONNECTION .....................................................................................................................................................5

INSTALL DRIVER FOR THE USB ADAPTER........................................................................................................... 6

RUN DEMO APPLICATION .................................................................................................................................. 7

TROUBLESHOOTING.......................................................................................................................................... 10

MOTOR SPEED ADJUSTMENT........................................................................................................................... 10

SDK INTRODUCTION AND USAGE......................................................................................................11

RPLIDAR A2 PIN DEFINITION AND SPECIFICATION ....................................................................................... 11

PIN DEFINITION FOR THE USB ADAPTER......................................................................................................... 12

CONFIGURE RPLIDAR A2 SCAN FREQUENCY................................................................................................. 12

SDK USAGE...................................................................................................................................................... 12

OPERATION RECOMMENDATION....................................................................................................... 13

PRE-HEATING FOR BEST PERFORMANCE .........................................................................................................13

AMBIENT TEMPERATURE...................................................................................................................................13

AMBIENT LIGHT................................................................................................................................................ 13

REVISION HISTORY ................................................................................................................................. 14

APPENDIX .................................................................................................................................................. 15

IMAGE AND TABLE INDEX ................................................................................................................................. 15

Contents

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RPLIDAR A2 development kit includes the matched tools used for evaluating

RPLIDAR’s performance and initial development. After connecting the RPLIDAR

A2 with PC via USB cable and adapter, Users can observe the cloud map of the

environment scanning point collected by the RPLIDAR and start development

based on the SDK.

Items in the Development Kit

RPLIDAR Development Kit contains:

oRPLIDAR（PWM motor driver embedded）

oUSB Adapter

Figure 1-1 Items in the RPLIDAR Development Kit

Overview

RPLIDAR

USB Adapter

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RPLIDAR A2

Figure 1-2 The RPLIDAR

The RPLIDAR A2 development kit contains standard RPLIDAR A2 unit (A2M4-R1).

The RPLIDAR is embedded with logic IO drivable motor controller which can be

used to configure the scan frequency by tuning motor speed. Developers can also

choose to turn off the motor for power saving purpose.

RPLIDAR usage and interface definition will be introduced in the coming sections.

USB Adapter

Figure 1-3 RPLIDAR Adapter

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Connection

RPLIDAR A2 can be easily connected to PC according to the following steps.

1) Connect RPLIDAR A2 with the USB adapter.

Figure 2-1 Connect RPLIDAR A2 and USB Adapter

2) Connect the USB adapter to your PC via the Micro-USB cable. If the PC is

on, after connecting the USB cable to your PC, the indicator light of the USB

will light up but the RPLIDAR will not start scanning.

Figure 2-2 Connect the USB Adapter to PC via Micro-USB Cable

Connection and Usage

6/ 15

Install Driver for the USB Adapter

The USB adapter converts UART to USB by using CP2102 chip. You need to install

the device driver for the chip. The driver can be found in the provided SDK

package or downloaded from Silicon Labs’official website:

http://www.silabs.com/products/interface/usb-bridges/Pages/usb-bridges.aspx

Here’s the installation steps in Windows:

After connecting the RPLIDAR with PC, please find the driver file “CP210x VCP

Windows” and choose correct operating system version accordingly: x86 for 32-

bit OS and x64 for 64-bit OS.

Figure 2-3 Choose USB Adapter Driver for Installation

Figure 2-4 Start Page of USB Adapter Driver Installation

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After Installing the driver according to the above installation steps, you will see

corresponding serial port name in the [Control Panel] -> [Device and Printers].

Please refer to the below figure.

Figure 2-5 Recognized Serial Port Name Matched with the USB Adapter

Run Demo Application

Frame_grabber is a GUI demo application provided by SLAMTEC. You can view

the scan result directly in the UI and save the scan result to files for further

processing. The source code of this demo application is also provided in matched

SDK for reference.

This GUI demo can only run under Windows. For Linux and MacOS users, please

refer to the other simple demo provided in the SDK.

Please make sure you have connected RPLIDAR to PC by using USB adapter and

installed the device driver correctly before running the demo application.

Starting demo application framgrabber.exe and choose serial port name identified

in the previous step.

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Figure 2-6 Choose Serial Port Name Matched with the USB Adapter

If the connection is ok, you shall see the UI like this:

Figure 2-7 The Start of Demo Application

The firmware/hardware version and serial number of the RPLIDAR will show in the

title line of the GUI. The supported commands of RPLIDAR are showed in the tool

bar. The descriptions are listed in the bellow table.

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Figure 2-8 The Supported Commands in Demo Application

Press the Start Scan button ，the scan data will be displayed in the UI as below：

Figure 2-9 The Scan Outline in RPLIDAR Demo Application

Use the mouse wheel to zoom in and out. Move the cursor to any sample point,

the distance and degree value to the RPLIDAR will be showed in the screen with

red font.

The scan frequency is also showed in the UI.

Button

Function

Description

Start Scan

Scan data will be displayed after scan core starting work

Stop Scan

Scan core enter power save mode

Save Scan Data

Save current scan data to the local file

Restart RPLIDAR

Restart scan core to clear internal errors

Adjust Motor Speed

Adjust the motor speed as required

10 / 15

Troubleshooting

When the scan core or the laser power works abnormally, the scan core will enter

protection mode. This state can be retrieved by using SDK API. If such scenario

happened, please send restart command to reset the scan core.

Motor Speed Adjustment

During the running process, different motor rotating speed can be achieved by

pressing the button. There will be a speed adjustment dialog box popped up

for users to enter required speed. After clicking set, the motor will work as the

settled rotating speed automatically. User can also drag the progress bar to the

required rotating speed.

The current rotating speed will show in rea time in the Framegrabber main

dialogue box.

Figure 2-10 The Motor Speed Adjustment Dialogue

Table des matières

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