YDLidarG2

Minimal YDLidar G2 driver for the Arduino Uno R4.

Wiring

G2 pin	Uno R4 pin
TX	0 (Serial1 RX)
RX	1 (Serial1 TX)
GND	GND
VCC motor	External 5V (share GND)
VCC logic	3.3V
DTR	Any digital out (motor enable)

Don’t use Serial (USB) for the lidar — use Serial1 on pins 0/1.

Installation

Copy the YDLidarG2/ folder into your Arduino libraries/ directory and restart the IDE.

Usage

#include "YDLidarG2.h"

YDLidarG2 lidar(Serial1, 3); // Serial1, motor-enable on pin 3

void setup() {
    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 serial + motor pin, call once in setup()
`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 (out of 32 KB on Uno R4)
Multiple hits per degree bucket keep the closest/strongest reading
Checksum is computed but not enforced (known issue in reference libs too)