Add Delta-2D, LDS08RR

Author: Ilia O.

README.md

@@ -10,7 +10,7 @@ This library supports:
 - SLAMTEC RPLIDAR A1
 - Neato XV11/Botvac
 - Xiaomi Roborock Mi 1st gen LDS02RR
-- 3irobotix Delta-2A, Delta-2B, Delta-2G, Delta-2A 115000 baud
+- 3irobotix Delta-2A, Delta-2B, Delta-2D, Delta-2G, LDS08RR, Delta-2A 115000 baud
 - LDROBOT LD14P, LD19
 - CAMSENSE X1
 

examples/all_lidars_lds02rr_esp32/all_lidars_lds02rr_esp32.ino

@@ -39,6 +39,8 @@ const uint8_t LIDAR_GPIO_PWM = 15;// ESP32 GPIO connected to Lidar PWM pin
 //#define _3IROBOTIX_DELTA_2A_115200
 //#define _3IROBOTIX_DELTA_2A
 //#define _3IROBOTIX_DELTA_2B
+//#define _3IROBOTIX_DELTA_2D
+//#define _3IROBOTIX_LDS08RR
 //#define LDROBOT_LD14P
 //#define YDLIDAR_X4
 //#define YDLIDAR_X4_PRO
@@ -89,6 +91,10 @@ void setupLidar() {
   lidar = new LDS_DELTA_2A_230400();
   #elif defined(_3IROBOTIX_DELTA_2B)
   lidar = new LDS_DELTA_2B();
+  #elif defined(_3IROBOTIX_DELTA_2D)
+  lidar = new LDS_DELTA_2D();
+  #elif defined(_3IROBOTIX_LDS08RR)
+  lidar = new LDS_LDS08RR();
   #elif defined(LDROBOT_LD14P)
   lidar = new LDS_LDROBOT_LD14P();
   #elif defined(YDLIDAR_X4)

examples/all_lidars_lds02rr_esp32s3/all_lidars_lds02rr_esp32s3.ino

@@ -39,6 +39,8 @@ const uint8_t LIDAR_GPIO_PWM = 15;// ESP32S3 GPIO connected to Lidar PWM pin
 //#define _3IROBOTIX_DELTA_2A_115200
 //#define _3IROBOTIX_DELTA_2A
 //#define _3IROBOTIX_DELTA_2B
+//#define _3IROBOTIX_DELTA_2D
+//#define _3IROBOTIX_LDS08RR
 //#define LDROBOT_LD14P
 //#define YDLIDAR_X4
 //#define YDLIDAR_X4_PRO
@@ -90,6 +92,10 @@ void setupLidar() {
   lidar = new LDS_DELTA_2A_230400();
   #elif defined(_3IROBOTIX_DELTA_2B)
   lidar = new LDS_DELTA_2B();
+  #elif defined(_3IROBOTIX_DELTA_2D)
+  lidar = new LDS_DELTA_2D();
+  #elif defined(_3IROBOTIX_LDS08RR)
+  lidar = new LDS_LDS08RR();
   #elif defined(LDROBOT_LD14P)
   lidar = new LDS_LDROBOT_LD14P();
   #elif defined(YDLIDAR_X4)

keywords.txt

@@ -20,6 +20,8 @@ LDS_DELTA_2A_230400	KEYWORD1
 LDS_DELTA_2A_115200	KEYWORD1
 LDS_DELTA_2B	KEYWORD1
 LDS_DELTA_2G	KEYWORD1
+LDS_DELTA_2D	KEYWORD1
+LDS_LDS08RR	KEYWORD1
 LDS_LDROBOT_LD14P	KEYWORD1
 LDS_CAMSENSE_X1	KEYWORD1
 

library.properties

@@ -3,7 +3,7 @@ version=0.6.3
 author=Ilia O. <iliao@kaia.ai>
 maintainer=Ilia O. <iliao@kaia.ai>
 sentence=Laser distance scan sensors (LDS/LIDAR) wrapper/controller for kaia.ai robotics platform
-paragraph=Supports YDLIDAR X4, X4 PRO, X3, X3 PRO, X2/X2L, SCL; Xiaomi Roborock 1st gen LDS02RR; Neato XV11; SLAMTEC RPLIDAR A1; 3irobotix Delta-2A, -2B, -2G, -2A 115000; LDROBOT LD14P; CAMSENSE X1
+paragraph=Supports YDLIDAR X4, X4 PRO, X3, X3 PRO, X2/X2L, SCL; Xiaomi Roborock 1st gen LDS02RR; Neato XV11; SLAMTEC RPLIDAR A1; 3irobotix Delta-2A, -2B, -2D, -2G, LDS08RR, -2A 115000; LDROBOT LD14P; CAMSENSE X1
 category=Sensors
 url=https://github.com/kaiaai/LDS
 architectures=*

src/LDS_DELTA_2D.cpp

@@ -0,0 +1,23 @@
+// Copyright 2023-2025 KAIA.AI
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "LDS_DELTA_2D.h"
+
+const char* LDS_DELTA_2D::getModelName() {
+  return "3irobotics Delta-2D";
+}
+
+uint16_t LDS_DELTA_2D::get_max_data_sample_count() {
+  return 24;
+}

src/LDS_DELTA_2D.h

@@ -0,0 +1,23 @@
+// Copyright 2023-2025 KAIA.AI
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#pragma once
+#include "LDS_DELTA_2A_115200.h"
+
+class LDS_DELTA_2D : public LDS_DELTA_2A_115200 {
+  public:
+    const char* getModelName() override;
+  protected:
+    uint16_t get_max_data_sample_count() override;
+};

src/LDS_LDS08RR.cpp

@@ -0,0 +1,19 @@
+// Copyright 2023-2025 KAIA.AI
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "LDS_LDS08RR.h"
+
+const char* LDS_LDS08RR::getModelName() {
+  return "3irobotics LDS08RR";
+}

src/LDS_LDS08RR.h

@@ -0,0 +1,21 @@
+// Copyright 2023-2025 KAIA.AI
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#pragma once
+#include "LDS_DELTA_2D.h"
+
+class LDS_LDS08RR : public LDS_DELTA_2D {
+  public:
+    const char* getModelName() override;
+};

src/lds_all_models.h

@@ -27,6 +27,8 @@
 #include "LDS_DELTA_2A_230400.h"
 #include "LDS_DELTA_2B.h"
 #include "LDS_DELTA_2G.h"
+#include "LDS_DELTA_2D.h"
+#include "LDS_LDS08RR.h"
 #include "LDS_LDROBOT_LD14P.h"
 #include "LDS_CAMSENSE_X1.h"
 #include "LDS_LDROBOT_LD19.h"