Settings

Namespace: RpLidar.NET.Entities

Configuration types for controlling how RpLidarSerialDevice connects and scans.

Table of Contents

1. ILidarSettings
   1. Properties
2. LidarSettings
   1. Default Values
   2. Example — All Defaults
   3. Example — Custom Settings
3. Tuning Recommendations
4. See Also

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ILidarSettings

public interface ILidarSettings

Properties

Property	Type	Default	Description
Port	string	Last available port	Serial port name, e.g. "COM3" or "/dev/ttyUSB0"
BaudRate	int	115200	Serial baud rate. RPLidar sensors use 115 200 bps.
ScanMode	ScanMode	ScanMode.Sensitivity	The scan algorithm to use.
MaxDistance	int	25000	Maximum distance in millimetres. Points beyond this are discarded.
Pwm	ushort	660	Motor PWM value (0–1023). Higher = faster rotation.
ElapsedMilliseconds	int	400	Interval in ms between LidarPointScanEvent firings.

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LidarSettings

public sealed class LidarSettings : ILidarSettings

LidarSettings is the concrete, default implementation of ILidarSettings. Construct it, override only what you need, and pass it to RpLidarSerialDevice.

Default Values

Property	Default
Port	Last available serial port on the system
BaudRate	115200
ScanMode	ScanMode.Sensitivity
MaxDistance	25000 mm (25 m)
Pwm	660
ElapsedMilliseconds	400 ms

Example — All Defaults

var settings = new LidarSettings();
// Uses the last serial port, Sensitivity mode, 115200 baud
var device = new RpLidarSerialDevice(settings);

Example — Custom Settings

var settings = new LidarSettings
{
    Port                = "COM5",
    BaudRate            = 115200,
    ScanMode            = ScanMode.Standard,   // Compatible with A1M8
    MaxDistance         = 8000,                // Only keep points within 8 m
    Pwm                 = 800,                 // Slightly faster motor
    ElapsedMilliseconds = 200                  // Fire events every 200 ms
};

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Tuning Recommendations

Scenario	Recommended Settings
A1M8 sensor	ScanMode.Standard, MaxDistance = 12000
A2M8 / A3M1 — best accuracy	ScanMode.Sensitivity (default)
A2M8 / A3M1 — fastest updates	ScanMode.Boost, ElapsedMilliseconds = 100
Obstacle detection (near range)	MaxDistance = 3000, ElapsedMilliseconds = 200
Mapping (large space)	MaxDistance = 20000, ElapsedMilliseconds = 500

Set MaxDistance to the physical size of your environment. Filtering out far points reduces noise and speeds up processing in your event handler.

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See Also

• RpLidarSerialDevice — consumes ILidarSettings
• ScanMode — scan mode options