c1eb9e7218672066fa33c264ba63650b9c748eba,donkeycar/parts/lidar.py,RPLidar,update,#RPLidar#,20

Before Change

        for new_scan, quality, angle, distance in self.measurements:
            angle = int(angle)
            self.frame[angle] = 2*distance/3 + self.frame[angle]/3
            if not self.on: 
                break
            
    def run_threaded(self):
        return self.frame

After Change

        measurements = self.lidar.iter_measurments()
        while self.on:
            for quality, angles, distances in measurements:
                self.distances = distances.copy()
                self.angles = angles.copy()

    def run_threaded(self):
        return self.distances, self.angles

Instances