This driver depends on:
Please ensure all dependencies are available on the CircuitPython filesystem. This is easily achieved by downloading the Adafruit library and driver bundle.
import os
from math import cos, sin, pi, floor
import pygame
from adafruit_circuitpython_rplidar import RPLidar
# Set up pygame and the display
os.putenv('SDL_FBDEV', '/dev/fb1')
pygame.init()
lcd = pygame.display.set_mode((320,240))
pygame.mouse.set_visible(False)
lcd.fill((0,0,0))
pygame.display.update()
# Setup the RPLidar
PORT_NAME = '/dev/ttyUSB0'
lidar = RPLidar(None, PORT_NAME)
# used to scale data to fit on the screen
max_distance = 0
def process_data(data):
# Do something useful with the data
pass
scan_data = [0]*360
try:
print(lidar.get_info())
for scan in lidar.iter_scans():
for (_, angle, distance) in scan:
scan_data[min([359, floor(angle)])] = distance
process_data(scan_data)
except KeyboardInterrupt:
print('Stoping.')
lidar.stop()
lidar.disconnect()
Contributions are welcome! Please read our Code of Conduct before contributing to help this project stay welcoming.
To build this library locally you'll need to install the circuitpython-build-tools package.
python3 -m venv .env
source .env/bin/activate
pip install circuitpython-build-tools
Once installed, make sure you are in the virtual environment:
source .env/bin/activate
Then run the build:
circuitpython-build-bundles --filename_prefix adafruit_circuitpython-circuitpython-rplidar --library_location .
Sphinx is used to build the documentation based on rST files and comments in the code. First, install dependencies (feel free to reuse the virtual environment from above):
python3 -m venv .env
source .env/bin/activate
pip install Sphinx sphinx-rtd-theme
Now, once you have the virtual environment activated:
cd docs
sphinx-build -E -W -b html . _build/html
This will output the documentation to docs/_build/html
. Open the index.html in your browser to
view them. It will also (due to -W) error out on any warning like Travis will. This is a good way to
locally verify it will pass.