Slamtec RPLIDAR A1 - Page 18

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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2017 Shanghai Slamtec Co., Ltd.
Figure 4-9 Format of a RPLIDAR Express Scan Data Request Packet
The descriptions of every field within the above data are listed in the following table:
Figure 4-10 Field Definition of RPLIDAR Express Scan Data Request Packet
Field Name
Description
Examples/Notes
working_mode
The other parameters in the scan
mode of RPLIDAR, set to 0.
The field only supports for
standard scan mode currently,
set to 0.
Reserved
Reserved field, set to 0.
Reserved for future use, set to 0.
working_mode
8
0
Reserved
8
0
Reserved
8
0
Reserved
8
0
Reserved
8
0
+0
+1
+2
+3
+4
Byte Offset