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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2017 Shanghai Slamtec Co., Ltd.
responses mode, the RPLIDAR will continue to handle the request which has
interrupted it.
The request packets sent by the host system during the multiple responses mode
will be cached by the RPLIDAR’s protocol stack. After leaving the multiple responses
mode, RPLIDAR will handle the cached request.
Single Request-No Response
For requests like STOP, RESET Core, RPLIDAR uses the single request – no response
mode since there is no need to reply to the host system.
Host systems should wait for a period of time before sending another request since
RPLIDAR needs time to process the request operation. Otherwise, the request may
be discarded by the RPLIDAR’s protocol stack.
Figure 2-3 RPLIDAR Single Request-No Response Mode
Request Packets’ Format
All request packets sent by a host system share the following common format. Little
endian byte order is used.
Figure 2-4 RPLIDAR Request Packets’ Format
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