Python code for Beaglebone Green Wireless - 3d Area Scanning project can be found @ https://www.hackster.io/chronma/rplidar-based-3d-area-scanner-3ae946#things
main scanning file is 3d scanner rplidar v1.py pylidartest runs link test and gives diagnostics from rplidar. run this if serial link terminates unexpectedly and errors are generated trying to reconnnect.