RPLIDAR0.txt

% Server TCP port (e.g. :4001), client IP address and TCP port (e.g. 127.0.0.1:4001) or local RS232 port
%127.0.0.1:55555
COM9
%/dev/ttyUSB0
%/dev/cu.SLAB_USBtoUART
% BaudRate
115200
%256000
%1000000
% Timeout (in ms)
2500
% threadperiod (in ms, require associated thread)
50
% bSaveRawData (require associated thread)
1
% bStartScanModeAtStartup
1
% ScanMode (0 : SCAN (to be used with GetScanDataResponseRPLIDAR()), 254 : LEGACY_EXPRESS_SCAN (to be used with GetExpressScanDataResponseRPLIDAR()), 255 : FORCE_SCAN (to be used with GetScanDataResponseRPLIDAR()), other available values and modes might vary depending on the device (to be used with GetOtherScanDataResponseRPLIDAR()), see e.g. https://github.com/ENSTABretagneRobotics/Hardware-MATLAB/issues/3#issuecomment-661349278)
1
% motordelay (in ms)
2000
% motorPWM (in [0..1023], 660 : default)
660
% maxhist (0 : try to automatically remove old data, around 180 : advised for SCAN mode, around 360 : advised for LEGACY_EXPRESS_SCAN mode, require associated thread)
0
% alpha_max_err (in rad)
0.01
% d_max_err (in m)
0.1