Enumerations

Namespace: RpLidar.NET.Entities

All enumerations used in the RpLidar.NET API.

ScanMode
Command
RpDataType
SendMode
See Also

ScanMode

public enum ScanMode : byte

Selects the scanning algorithm used by RpLidarSerialDevice. Set via ILidarSettings.ScanMode.

Member	Value	Description
`Standard`	`0`	Basic scan command (0x20). Widest hardware compatibility — works on all supported models. Lower sample rate.
`Boost`	`3`	Express Scan with `working_mode=3`. Faster sample rate. A2M8 and A3M1 only.
`Sensitivity`	`4`	Ultra-Capsule Express Scan with `working_mode=4`. Best accuracy and range. Default. A2M8 and A3M1 only.

Using Boost or Sensitivity with an A1M8 will not raise an exception — the firmware silently ignores the working mode and uses Standard scan instead.

Command

public enum Command : byte

Protocol command bytes as defined in the SLAMTEC RPLidar Communication Protocol v2.1.

Member	Value	Has Response	Description
`Stop`	`0x25`	No	Stop the current scan.
`Reset`	`0x40`	No	Reboot the sensor core.
`Scan`	`0x20`	Yes (multi)	Begin standard scan.
`ExpressScan`	`0x82`	Yes (multi)	Begin express (Boost/Sensitivity) scan.
`ForceScan`	`0x21`	Yes (multi)	Force scan without motor sync.
`GetInfo`	`0x50`	Yes (single)	Request device information.
`GetHealth`	`0x52`	Yes (single)	Request device health status.
`GetSampleRate`	`0x59`	Yes (single)	Request sample rate info.
`GetLidarConf`	`0x84`	Yes (single)	Request lidar configuration.
`StartPwm`	`0xF0`	No	Set motor PWM speed.

// Sending a raw command
var info = device.SendRequest(Command.GetInfo) as InfoDataResponse;

RpDataType

public enum RpDataType : byte

Identifies the payload type in a protocol response descriptor. Used internally and exposed in IDataResponse.Type.

Member	Value	Description
`Scan`	`0x81`	Scan measurement data.
`GetInfo`	`0x04`	Device information response.
`GetHealth`	`0x06`	Device health response.

SendMode

public enum SendMode : byte

Encodes the response mode in the 7-byte protocol descriptor. Used internally.

Member	Value	Description
`SingleRequestSingleResponse`	`0x0`	One request yields exactly one response packet.
`SingleRequestMultipleResponse`	`0x1`	One request yields a continuous stream of response packets (used for scanning).
`ReservedForFutureUse1`	`0x2`	Reserved — do not use.
`ReservedForFutureUse2`	`0x3`	Reserved — do not use.

Enumerations

Table of Contents

ScanMode

Command

RpDataType

SendMode

See Also