libsweep-rs

这是用于与Scanse Sweep LIDAR单元交互的Sweep SDK的Rust包装器。

用法

let port = String::from("/dev/ttyUSB0");
let sweep = Sweep::new(port).unwrap();
sweep.start_scanning().unwrap();
let scan = sweep.scan().unwrap();
for sample in &scan {
    println!("Angle {}, Distance {}, Signal Strength: {}",
        sample.angle, sample.distance, sample.signal_strength);
}
sweep.stop_scanning().unwrap();

说明

此crate依赖于Sweep SDK（https://github.com/scanse/sweep-sdk）已安装。

连接LIDAR单元并找出其使用的端口。在Raspberry Pi上可能是/dev/ttyUSB0或类似。在Mac上可能是类似/dev/tty.usbserial-DM00KC6Z的端口。

使用此语法运行示例，将端口作为命令行参数传递。

cargo run --example scan /dev/ttyUSB0

您应该会看到类似以下输出

Version 1.2
ABI compatible: true
Motor speed: 5
Sample rate: 500
Starting scan ...
Angle 349375, Distance 67, Signal Strength: 191
Angle 352125, Distance 44, Signal Strength: 191
Angle 354687, Distance 40, Signal Strength: 191
Angle 357437, Distance 40, Signal Strength: 199