RoboSense LiDAR Helios-16P User Manual

RS-Helios-16P User Manual
40
B.10 Corrected Horizontal Angle(COR_HOR_ANG）
COR_HOR_ANG(48 bytes in total)
Byte No.
byte1
byte2
byte3
byte4
byte5
byte6
byte7
byte8
byte9
Function
Channel 1 horizontal angle
Channel 2 horizontal angle
Channel 3 horizontal angle
Byte No.
byte10
byte11
byte12
byte13
byte14
byte15
byte16
byte17
byte18
Function
Channel 4 horizontal angle
Channel 5 horizontal angle
Channel 6 horizontal angle
Byte No.
byte19
byte20
byte21
byte22
byte23
byte24
byte25
byte26
byte27
Function
Channel 7 horizontal angle
Channel 8 horizontal angle
Channel 9 horizontal angle
Byte No.
byte28
byte29
byte30
byte31
byte32
byte33
byte34
byte35
byte36
Function
Channel 10 horizontal angle
Channel 11 horizontal angle
Channel 12 horizontal angle
Byte No.
byte37
byte38
byte39
byte40
byte41
byte42
byte43
byte44
byte45
Function
Channel 13 horizontal angle
Channel 14 horizontal angle
Channel 15 horizontal angle
Byte No.
byte46
byte47
byte48
Function
Channel 16 horizontal angle
Register description:
(1) The channel horizontal angle value is composed of 3 bytes, among which the 1
st
byte is
used to indicate positive/negative angle, the 2
nd
and 3
rd
bytes indicate angle value. The data storage
adopts big-endian format;
(2) The 1
st
byte of the horizontal angle value, 0x00 means a positive angle, 0x01 means a
negative angle;
(3) The angle resolution: LBS=0.01;
(4) For example, the register value of channel 1: byte1=0x01, byte2=0x01 (converted to decimal is
1), byte3=0x96 (converted to decimal is 150), then the vertical angle of channel 1 is: -
（1*256+150）*0.01=-4.06°
B.11 Serial Number(SN）
SN(6 bytes in total)
Byte No.
1byte
2byte
3byte
4byte
5byte
6byte
Function
SN
Similar to the MAC address, it indicates the serial number of the LiDAR with a total of 6 bytes in
hexadecimal.

RoboSense LiDAR Helios-16P Specifications

General

Brand	RoboSense
Model	LiDAR Helios-16P
Category	Robotics
Language	English