Hokuyo URG-04LX LIDAR

Hi.

How can I program Hokuyo URG-04LX using matlab?

I want the Lidar to do scanning inside the time loop.

The problem is that the movement of the servo motors is very slow because each 1 second the program scans, the lidar then moves the servo motor 1 step.

How can I make the movement faster?

for t=0:30
	% start scanning
	R=LidarScan(lidar); %Acquire the LIDAR data
	for r=1:length(R) % Eliminate the longer distanced obstacles
		if R(r)>RangeTol
			R(r)=0;
		end
	end
	% Find the number of obstacles in each regions
	ObsRight=length(find(R(cL)>ObsTol));
	ObsCenter=length(find(R(cL(end)+1:cH(1)))>ObsTol);
	ObsLeft=length(find(R(cH)>ObsTol));
	%      end of scanning of URG-04LX
	
	if t==0
		J(1)=2048; J(2)=2048; J(3)=2048; J(4)=2048; J(5)=2048; J(6)=2048; J(7)=2048; J(8)=2048;
	else		
		% Set the mobile to movement
		if ObsCenter<MinNoObs
			w=pi/4; L=pi/4; h=pi; Bo=2*pi/180; Be=0; Ae=pi/10; Ao=pi/4; w1=0; L1=pi/4;
			
			for i=1:8
				o=rem(i,2);
				
				if o==0
					Q(i)=Be+Ae*sin(i*L+w*t);
				else
					Q(i)=Bo+Ao*sin(i*L1+w1*t+h);
				end
				Q2(i)=fix(Q(i)*100);
				x(i)=Q2(i)*(2048/181)+2048;
				J(i)=fix(x(i));
			end