Cygbot CygLiDAR D1 사용자 설명서 - 페이지 11
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6. Serial Communication
Stop (0x02)
0x5A 0x77 0xFF 0x02 0x00
Request Packet
Change the status to Idle.
When the status is in Idle, device does nothing.
Set 3D Pulse Duration Request (0x0C)
Request Packet
0x5A 0x77 0xFF 0x03 0x00
3D Data is used in 3D Mode and Dual Mode.
You can adjust the pulse duration with the
Set 3D pulse duration packet. Adjustable
time is limited to 0-10,000us. Pulse Duration can be
Auto that LiDAR adjusts itself, or Fixed that uses a
user-specified value.
If Pulse Duration is fixed, 14 bits after the 2
are Pulse Duration Value.
0x02
0x0C
[Example]
0
1
1
1
0
0
LSB
nd
bit
0x00 0x00
Check
LSB
MSB
Sum
0
0
0
1
0
1
0
MSB
st
1
bit
nd
2
bit
3D / Fixed / Runtime Value = 6000
st
1
bit
0
0
1
1
11
1
1
1
nd
2
bit
Result
0
3D, Auto
1
3D, Fixed
0
Dual, Auto
1
Dual, Fixed
Ver 0.2.2