Struct LD06

pub struct LD06<R: Read<u8>> { /* private fields */ }

An LD06 Peripheral.

This driver will not control the PWM of the LiDAR, if you are not using the included speed control board please use [into_pid] to add motor speed control. Due to a lack of a proper embedded_hal PWM interface, you will need to apply the PID value to the PWM line yourself.

Implementations

impl<R: Read<u8>> LD06<R>

pub fn new(reader: R) -> Self

Creates a new interface to an LD06. The serial port must be configured as follows:

• baud 230400
• 8 Data bits
• 1 Stop bit
• No Parity
• No Flow Control

pub fn read_next_byte( &mut self, ) -> Result<Option<PartialScan>, ParseError<R::Error>>

Reads the next byte from the serial buffer, appending it to the wip scan. If a scan was completed, it will be returned. If an error occurs, the current packet will be corrupted, but the system will recover on the start of the next packet.

This functions blocking behavior will be determined by the underlying serial read function.

pub fn into_pid(self) -> LD06Pid<R>

Adds motor speed PID control output.