Slamtec RPLIDAR A1 - Page 8

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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2017 Shanghai Slamtec Co., Ltd.
Figure 2-5 Response Packets Sent during a Single Request-Single Response Mode
Figure 2-6 Response Packets Sent during a Single Request-Multiple Response Mode
The format of response descriptors is depicted in the following figure.
Figure 2-7 RPLIDAR Response Descriptors’ Format
RPLIDAR
Host System
Request #1
Response Descriptor
Data Response
Request #2
2
…
RPLIDAR
Host System
Request #1
Response Descriptor
Data Response
Request #2
2
…
Data Response
Data Response
…
Start Flag1
Start Flag2
Data Response Length
Send Mode
Data Type
1byte (0xA5)
1byte (0x5A)
30bits
2bits
1byte
Transmission Order