Slamtec RPLIDAR A1 Manuel utilisateur

www.slamtec.com

Shanghai Slamtec.Co.,Ltd

2021-05-20 rev.2.1

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

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

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

RPLIDAR A1 ..................................................................................................................................................... 4

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

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

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

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

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

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

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

RPLIDAR A1 PIN DEFINITION AND SPECIFICATION ....................................................................................... 11

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

CONFIGURE RPLIDAR A1 SCAN FREQUENCY ................................................................................................. 13

SDK USAGE ...................................................................................................................................................... 13

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

PRE-HEATING FOR BEST PERFORMANCE ......................................................................................................... 14

AMBIENT TEMPERATURE................................................................................................................................... 14

AMBIENT LIGHT ................................................................................................................................................ 14

REVISION HISTORY ................................................................................................................................. 15

APPENDIX .................................................................................................................................................. 16

IMAGE AND TABLE INDEX ................................................................................................................................. 16

Contents

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RPLIDAR A1 development kit includes the matched tools used for evaluating

RPLIDAR A1’s performance and initial development. After connecting the RPLIDAR

A1 with PC via USB cable and adapter, Users can observe the cloud map of the

environment scanning point collected by the RPLIDAR A1 and start development

based on the SDK.

Items in the Development Kit

RPLIDAR A1 Development Kit contains:

o RPLIDAR A1（PWM motor driver embedded）

o USB Adapter

o RPLIDAR A1 communication cable

Note: The Micro-USB cable needs to be prepared by users.

Figure 1-1 Items in the RPLIDAR A1 Development Kit

Overview

USB

Adapter

RPLIDAR

Module

RPLIDAR

communication

cable

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RPLIDAR A1

Figure 1-2 The RPLIDAR A1

The RPLIDAR A1 development kit contains standard RPLIDAR A1 unit (A1M8-R1).

The RPLIDAR A1 is embedded with logic IO drivable(3.3v) 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 A1 usage and interface definition will be introduced in the coming

sections.

USB Adapter

Figure 1-3 RPLIDAR A1 Adapter

RPLIDAR A1 development kit contains a USB adapter to provide power supply for

RPLIDAR A1 and convert RPLIDAR A1 internal UART serial interface to USB

interface.

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Connection

RPLIDAR A1 can be easily connected to PC according to the following steps.

1) Connect RPLIDAR A1 with the USB adapter using provided communication

cable. The socket is in the bottom of RPLIDAR A1.

Figure 2-1 Connect RPLIDAR A1 and USB Adapter

2) Connect the USB adapter to your PC using the Micro-USB cable. After

connecting RPLIDAR A1 to your PC through the USB cable, the LED in the

bottom of the RPLIDAR A1 will light up and RPLIDAR A1 start scanning.

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

Connection and Usage

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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 A1 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

SLAMTEC provides a Lidars plugin in RoboStudio for users in test and evaluation.

You can view the scan result directly in the UI and save the scan result to files for

further processing.

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 in

RoboStudio. Launch RoboStudio and log in.

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Figure 2-6 RoboStudio Login Page

If the connection is ok, you shall see the user interface is shown as below.

1. Click File->Lidars to open the lidar control panel in the left;

2. Click Serial Ports to extend the lidar lists and you’ll find the RPLIDAR A1

previously connected to your PC;

3. Click the RPLIDAR A1 icon to extend the tool buttons below the icon: the left

one is to adjust the motor speed(RPLIDAR A1 is not adjustable by default.) while

the right one is to open the tool bar in the major work area as shown in Figure 2-

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Figure 2-7 The Lidar Plugin in RoboStudio

The serial number, version and model of the RPLIDAR A1 will show next with its

icon in the lidar control panel. The supported commands of RPLIDAR are showed

in the tool bar. The descriptions are listed in the bellow table.

Figure 2-8 The Supported Commands of RPLIDAR in RoboStudio

Press the Start Scan button ，the scan data will be displayed as below(by

default, the motor rotating speed should be about 8Hz.):

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Figure 2-9 The Scan Outline by RPLIDAR in RoboStudio

Right click in the major working area to choose a range so as to zoom in or out

the view.

The scan frequency is also showed in the above interface.

Troubleshooting

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

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

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

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