YDLidarG2

Minimal YDLidar G2 driver for the ESP32-S3.

Wiring

G2 pin	ESP32-S3 pin
TX	18 (Serial1 RX)
RX	17 (Serial1 TX)
GND	GND
VCC motor	External 5V (share GND)
VCC logic	3.3V
DTR	Any digital out (motor enable)

Unlike the Uno R4 version, you must call lidarSerial.begin() with your chosen RX/TX pins before calling lidar.begin().

Installation

Copy the YDLidarG2_ESP32S3/ folder into your Arduino libraries/ directory and restart the IDE.

Usage

#include "YDLidarG2.h"

#define LIDAR_RX_PIN    18
#define LIDAR_TX_PIN    17
#define LIDAR_MOTOR_PIN 16

HardwareSerial lidarSerial(1);
YDLidarG2 lidar(lidarSerial, LIDAR_MOTOR_PIN);

void setup() {
    lidarSerial.begin(LIDAR_BAUD, SERIAL_8N1, LIDAR_RX_PIN, LIDAR_TX_PIN);
    lidar.begin();
    lidar.startScan();
}

void loop() {
    if (lidar.update()) {                    // true once per full revolution
        uint16_t d = lidar.getDistance(90);  // mm at 90
        Serial.println(d);
    }
}

API

Method	Description
`begin()`	init motor pin + flush noise; call after `lidarSerial.begin()`
`startScan()`	send scan command, returns false if no response
`stop()`	stop scanning, kill motor
`update()`	call every loop(); returns true on completed 360° scan
`getDistance(deg)`	mm at degree [0–359], 0 = no return
`getIntensity(deg)`	signal strength [0–1023] at degree
`getValidBinCount()`	number of populated degree buckets last scan
`getScanPoints(count)`	raw `G2ScanPoint[]` array
`getHealth(health)`	device health, call before startScan()
`getDeviceInfo(info)`	firmware/hardware version, call before startScan()

Notes

Baud rate: 230400
RAM usage: ~2.6 KB static (ESP32-S3 has 512 KB)
Multiple hits per degree bucket keep the closest/strongest reading
Checksum is computed but not enforced (known issue in reference libs too)