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YDLIDAR · Mar 14, 2020 · a45bc54 · a45bc54
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diff --git a/doc/Dataset.md b/doc/Dataset.md
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+# YDLIDAR DATASET
+|LIDAR      | Model  |  Baudrate |  SampleRate(K) | Range(m)  		   |  Frequency(HZ) | Intenstiy(bit) | SingleChannel | voltage(V)|
+| :-------- |:--:|:--:|:--:|:--:|:--:|:--:|:--:|:--:|
+| F4        | 1	   |  115200   |   4            |  0.12~12         | 5~12           | false          | false    	  | 4.8~5.2   |
+| S4        | 4	   |  115200   |   4            |  0.10~8.0        | 5~12 (PWM)     | false          | false    	  | 4.8~5.2   |
+| S4B       | 4/11   |  153600   |   4            |  0.10~8.0        | 5~12(PWM)      | true(8)        | false    	  | 4.8~5.2   |
+| S2        | 4/12   |  115200   |   3            |  0.10~8.0     	| 4~8(PWM)       | false          | true    		  | 4.8~5.2   |
+| G4        | 5	   |  230400   |   9/8/4        |  0.28/0.26/0.1~16| 5~12        	  | false          | false    	  | 4.8~5.2   |
+| X4        | 6	   |  128000   |   5            |  0.12~10     		| 5~12(PWM)      | false          | false    	  | 4.8~5.2   |
+| X2/X2L    | 6	   |  115200   |   3            |  0.10~8.0     	| 4~8(PWM)       | false          | true    		  | 4.8~5.2   |
+| G4PRO     | 7	   |  230400   |   9/8/4        |  0.28/0.26/0.1~16| 5~12        	  | false          | false    	  | 4.8~5.2   |
+| F4PRO     | 8	   |  230400   |   4/6          |  0.12~12         | 5~12        	  | false          | false    	  | 4.8~5.2   |
+| R2        | 9	   |  230400   |   5            |  0.12~16     		| 5~12        	  | false          | false    	  | 4.8~5.2   |
+| G6        | 13     |  512000   |   18/16/8      |  0.28/0.26/0.1~25| 5~12        	  | false          | false    	  | 4.8~5.2   |
+| G2A       | 14	   |  230400   |   5            |  0.12~12         | 5~12      	  | false          | false    	  | 4.8~5.2   |
+| G2        | 15		|  230400   |   5            |  0.28~16     		| 5~12      	  | true(8)        | false    	  | 4.8~5.2   |
+| G2C       | 16		|  115200   |   4            |  0.1~12        	| 5~12      	  | false      	 | false    	  | 4.8~5.2   |
+| G4B       | 17		|  512000   |   10           |  0.12~16         | 5~12        	  | true(10)       | false    	  | 4.8~5.2   |
+| G4C       | 18		|  115200   |   4            |  0.1~12		      | 5~12           | false          | false    	  | 4.8~5.2   |
+| G1        | 19		|  230400   |   9            |  0.28~16         | 5~12      	  | false          | false    	  | 4.8~5.2   |
+| TX8    　 | 100	   |  115200   |   4            |  0.1~8      	   | 4~8(PWM)       | false          | true      	  | 4.8~5.2   |
+| TX20    　| 100	   |  115200   |   4            |  0.1~20      	   | 4~8(PWM)       | false          | true     	  | 4.8~5.2   |
+| TG15    　| 100	   |  512000   |   20/18/10     |  0.05~30      	| 3~16      	  | false          | false    	  | 4.8~5.2   |
+| TG30    　| 101	   |  512000   |   20/18/10     |  0.05~30      	| 3~16      	  | false          | false    	  | 4.8~5.2   |
+| TG50    　| 102	   |  512000   |   20/18/10     |  0.05~50      	| 3~16      	  | false          | false    	  | 4.8~5.2   |
+
diff --git a/doc/Diagram.md b/doc/Diagram.md
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+# FlowChart
+
+```flow
+st=>start: Start
+op=>operation: Set Paramamters and Initialize
+op1=>operation: TrunOn
+tr=>operation: Try Again
+op2=>operation: doProcessSimple
+op3=>operation: TrunOff
+op4=>operation: disconnecting
+cond=>condition: success Yes or No?
+cond1=>condition: success Yes or No?
+cond2=>condition: success Yes or No?
+cond3=>condition: LOOP Yes or No?
+cond4=>condition: TryAgain Yes or No?
+e=>end: End
+en=>end: End
+
+st(left)->op->cond
+cond(yes)->op1->cond1
+cond(no)->op3->op4->e
+cond1(yes)->op2->cond3
+cond3(yes)->op2
+cond3(no, left)->op3->op4->e
+cond1(no,right)->tr(bottom)->cond4
+cond4(yes)->op3
+cond4(no)->op3(right)->op4(right)->e
+```
+
+# sequenceDiagram
+
+```mermaid
+sequenceDiagram
+note over UserProgram: Set Paramters
+note over UserProgram: Initialize SDK
+UserProgram->Command: Get LiDAR Information
+Command-->UserProgram: Device connected and Devce Information recevied
+note over UserProgram: TurnOn
+UserProgram->Command: Start LiDAR 
+Command-->UserProgram: LiDAR Started successfully
+UserProgram->LaserScan: Get Laser Scan Data
+LaserScan-->UserProgram:  Laser Scan Data Recvied
+note over UserProgram: doProcessSimple
+loop Laser Scan Data
+  LaserScan->UserProgram: doProcessSimple
+end
+note over UserProgram: TurnOn
+UserProgram->Command: TurnOff 
+note over UserProgram: disconnecting
+UserProgram->Command: disconnecting
+```
diff --git a/doc/FAQs/General_FAQs.md b/doc/FAQs/General_FAQs.md
@@ -0,0 +1,32 @@
+# General FAQs
+
+## I am new to the YDLIDAR SDK project, where do I start?
+You have several options:
+
+- To build YDLidar SDK your computer, start by reviewing the [README.md](https://github.com/YDLIDAR/YDLidar-SDK/blob/master/README.md)
+
+- To install and build YDLIDAR SDK on a robot Project, go to: [YDLIDAR SDK quick start](https://github.com/YDLIDAR/YDLidar-SDK/blob/master/doc/Tutorials.md).
+
+---
+## How do I send a pull request?
+Sending a pull request is simple.
+1.	Fork the YDLidar-SDK Repository into your GitHub.
+2.	Create a Developer Branch in your Repository.
+3.	Commit your change in your Developer Branch.
+4.	Send the pull request from your GitHub Repository Webpage.
+
+---
+## How do I install sdk python API separately?
+Follow these steps:
+
+1. install swig:
+`sudo apt-get install swig`
+
+2. build sdk:
+`pyhton setup.py build`
+
+3. install sdk:
+`pyhton setup.py install`
+
+
+**More General FAQs to follow.**
diff --git a/doc/FAQs/General_FAQs_cn.md b/doc/FAQs/General_FAQs_cn.md
@@ -0,0 +1,10 @@
+# General FAQs_cn
+
+## 请问我怎么样使用pull request？
+使用pull request非常简单。
+1.	将YDLidar-SDk Repository fork到你自己的Github中。
+2.	在你的Repository中建立一个开发者 Branch。
+3.	在开发者Branch中commit你做的任何的改变
+4.	在你的github网页中使用pull request	
+
+**参考更多的FAQs**
diff --git a/doc/FAQs/Hardware_FAQs.md b/doc/FAQs/Hardware_FAQs.md
@@ -0,0 +1,8 @@
+# Hardware FAQs
+
+---
+### Which types of YD LiDAR are supported by YDLIDAR-SDK?
+please visit [this](https://github.com/YDLIDAR/YDLidar-SDK/blob/master/doc/Dataset.md) page.
+
+---
+**More Hardware FAQs to follow.**
diff --git a/doc/FAQs/Hardware_FAQs_cn.md b/doc/FAQs/Hardware_FAQs_cn.md
@@ -0,0 +1,13 @@
+# 硬件FAQs：
+### YDLIDAR雷达需要什么硬件支持？
+* 芯片主频大于30MHz.
+* 如果芯片主频太低，　数据不能实时解析，数据将会丢失，一些角度范围会丢失，比如:Arduino UNO(16 MHz).
+* 推荐最小主频大于30MHz才能实时解析雷达数据，如果是TG30这种采样率20K，　需更高的主频．
+* YDLidar-SDK 不支持控制器芯片，如STM32, Arduino.
+
+## YDLIDAR雷达可以在什么样的开发板上使用？
+* 雷达采样率小于6K的，开发板主频大于30MHz就可以．
+* 更改采样率雷达，开发板主频大于100MHz.
+
+## YDLidar-SDK支持哪些雷达型号？
+YDLidar-SDK 支持现有所有EAI标品雷达，定制版本请联系EAI
diff --git a/doc/FAQs/README.md b/doc/FAQs/README.md
@@ -0,0 +1,8 @@
+# FAQs
+
+- [General FAQs](General_FAQs.md)
+- [General FAQs cn](General_FAQs_cn.md)
+- [Hardware FAQs](Hardware_FAQs.md)
+- [Hardware FAQs cn](Hardware_FAQs_cn.md)
+- [Software FAQs](Software_FAQs.md)
+- [Software FAQs cn](Software_FAQs_cn.md)
diff --git a/doc/FAQs/Software_FAQs.md b/doc/FAQs/Software_FAQs.md
@@ -0,0 +1,13 @@
+# Software FAQs
+
+## Can other operating systems besides Ubuntu and windows be used?
+
+We have only tested on Ubuntu　and windows which means it's the only operating system we currently officially support. Users are always welcome to try different operating systems and can share their patches with the community if they are successfully able to use them.
+
+---
+## Can other Languages besides C/C++,Python, C# be used?
+
+We have only tested on C/C++, Python,C# which means it's the only Languages we currently officially support. Users are always welcome to try different Languages through swig and can share their patches with the community if they are successfully able to use them.
+
+---
+**More Software FAQs to follow.**
diff --git a/doc/FAQs/Software_FAQs_cn.md b/doc/FAQs/Software_FAQs_cn.md
@@ -0,0 +1,10 @@
+# 软件FAQ
+
+## 除了Ubuntu和Windows之外，其他操作系统还能使用吗？
+
+我们只对Ubuntu和Windows进行了测试，这意味着它是我们目前正式支持的操作系统。欢迎开发者尝试不同的操作系统，如果能够成功地使用它们，可以分享补丁与社区。
+
+## 除了支持C/C++,Python,C#之外，其他语言还能使用吗？
+我们只对C/C++,Python,C#进行了测试，这意味着它是我们目前正式支持的语言。欢迎开发者通过SWIG尝试不同的语言，如果能够成功地使用它们，可以分享补丁与社区。
+
+**更多的软件常见问题。**
diff --git a/doc/README.md b/doc/README.md
@@ -0,0 +1,25 @@
+# YDLIDAR SDK Documents
+
+## Quick Start Guide
+
+[README](quickstart/README.md) - A hardware and software guide to setting up YDLidar-SDK, segregated by versions
+
+## Communication Protocol
+
+[YDLIDAR SDK Communication Protocol](YDLidar-SDK-Communication-Protocol.md) - All you need to know about YDLiDAR-SDK Communication Protocol.
+
+## API
+
+[YDLIDAR SDK API for Developers](YDLIDAR_SDK_API_for_Developers.md) - All you need to know about YDLiDAR-SDK API
+
+## Howto Guides
+
+[README](howto/README.md) - Brief technical solutions to common problems that developers face during the installation and use of the YDLiDAR-SDK
+
+## Tutorials
+[Tutorials](Tutorials.md)-Quick Tutorials.
+
+## FAQs
+
+[README](FAQs/README.md) - Commonly asked questions about YDLidar-SDK's setup 
+
diff --git a/doc/SDK.pdf b/doc/SDK.pdf
diff --git a/doc/Tutorials.md b/doc/Tutorials.md
@@ -0,0 +1,22 @@
+# YDLIDAR SDK Tutorials
+
+Non-Beginners: If you're already familiar enough with YDLIDAR SDK, you can go through more in-depth SDK tutorial here. However, going over all basic Beginner Level tutorials is still recommended for all users to get exposed to new features.
+
+If you are new to Linux/windows: You may find it helpful to first do a quick tutorial on common command line tools for linux/windows. A good one is here. 
+
+# Table of Contents
+- [Beginner Level](#Beginner-level)
+    - [Writing a Simple Lidar Turorial (C++)](#writing-a-simple-lidar-tutorial-(c++))
+    - [Writing a Simple Lidar Turorial (Python)](#writing-a-simple-lidar-tutorial-(python))
+    - [Writing a Simple Lidar Turorial (Ｃ)](#writing-a-simple-lidar-tutorial-(c))
+    - [Examining the simple lidar tutorial](#examining-the-simple-lidar-tutorial)
+
+## Beginner Level
+### [Writing a Simple Lidar Tutorial (C++)](tutorials/writing_lidar_tutorial_c++.md)
+This tutorial covers how to write a lidar tutorial in C++. 
+### [Writing a Simple Lidar Tutorial (Python)](tutorials/writing_lidar_tutorial_python.md)
+This tutorial covers how to write a lidar tutorial in Python. 
+### [Writing a Simple Lidar Tutorial (C)](tutorials/writing_lidar_tutorial_c.md)
+This tutorial covers how to write a lidar tutorial in C. 
+### [Examining the simple lidar tutorial](tutorials/examine_the_simple_lidar_tutorial.md)
+This tutorial examines running the lidar tutorial.