SERIAL PROTOCOL
USER’S MANUAL
SWEEP
V1.0
4
Copyright ©2014-2017 Scanse LLC - www.scanse.io
Sweep can be used for a variety of applications, including robot guidance/obstacle avoidance, 3D scanning,
surveying, people tracking and many more.
Sweep has the ability to perform some simple data filtering within the sensor itself. These filters are still in
development, and are being made for specific customer segments. Examples include having Sweep split up its field
of view into eight sections, then transmit only the closest objects within each of those sectors. Another example is
to have Sweep only output data from a range of angles.
If you have an application that requires a specific filter,
please contact us.
You can download the Sweep visualizer at
www.scanse.io/downloads
The purpose of the Scanse visualizer is to provide a way to quickly evaluate Sweep’s performance in your
application/environment. For some applications, like surveying, our visualizer can be used to take quick
measurements between range data points within a scan. It
contains a programming tool for updating Sweep’s
firmware.
A full tutorial for using the visualizer can be found in software support section at
support.scanse.io.
Specification
Value
Bit Rate
115.2 Kbps
Parity
None
Data Bit
8
Stop Bit
1
Flow Control
None
All characters used for commands and responses are ASCII code in addition to CR and LF, except for the
measurement packet.
Responses with float values are sent as 16bit integer values.
Example conversion:
angle_f = 1.0f * ((float)(angle_i >> 4) + ((angle_i & 15) / 16.0f));
All communication packets between the host computer and the sensor begin with ASCII letter command codes.
ASCII Code (2 bytes) Function
DS
Start data acquisition
DX
Stop data acquisition
MS
Adjust Motor Speed
LR
Adjust LiDAR Sample Rate
MI
Motor Information
IV
Version Info
ID
Device Info
RR
Reset Device
