Trying Serial on a BBB w/ pyserial on Py3...

from serial import Serial
from time import sleep

ser = serial.Serial("/dev/ttyS2", 115200, timeout = 1)

def getTFminiData(broken):
    while True:
        count = ser.in_waiting
        if count >= 9:
            recv = ser.read(9)
            ser.reset_input_buffer()
            if recv[0] == 'Y' and recv[1] == 'Y': # 0x59 is 'Y'
                low = int(recv[2].encode('hex'), 16)
                high = int(recv[3].encode('hex'), 16)
                distance = low + high * 256
                print("This is your distance away from the Lidar: ", distance)
            sleep(0.5)

getTFminiData(2)