class Tinkerforge::BrickletLaserRangeFinderV2
Measures distance up to 40m with laser light
Constants
- CALLBACK_DISTANCE
This callback is triggered periodically according to the configuration set by
BrickletLaserRangeFinderV2#set_distance_callback_configuration
.The parameter is the same as
BrickletLaserRangeFinderV2#get_distance
.- CALLBACK_VELOCITY
This callback is triggered periodically according to the configuration set by
BrickletLaserRangeFinderV2#set_velocity_callback_configuration
.The parameter is the same as
BrickletLaserRangeFinderV2#get_velocity
.
Public Class Methods
Creates an object with the unique device ID uid
and adds it to the IP Connection ipcon
.
# File lib/tinkerforge/bricklet_laser_range_finder_v2.rb, line 87 def initialize(uid, ipcon) super uid, ipcon, DEVICE_IDENTIFIER, DEVICE_DISPLAY_NAME @api_version = [2, 0, 0] @response_expected[FUNCTION_GET_DISTANCE] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_DISTANCE_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE @response_expected[FUNCTION_GET_DISTANCE_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_GET_VELOCITY] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_VELOCITY_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE @response_expected[FUNCTION_GET_VELOCITY_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_ENABLE] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_GET_ENABLE] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_CONFIGURATION] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_GET_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_MOVING_AVERAGE] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_GET_MOVING_AVERAGE] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_OFFSET_CALIBRATION] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_GET_OFFSET_CALIBRATION] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_DISTANCE_LED_CONFIG] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_GET_DISTANCE_LED_CONFIG] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_GET_SPITFP_ERROR_COUNT] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_BOOTLOADER_MODE] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_GET_BOOTLOADER_MODE] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_WRITE_FIRMWARE_POINTER] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_WRITE_FIRMWARE] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_SET_STATUS_LED_CONFIG] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_GET_STATUS_LED_CONFIG] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_GET_CHIP_TEMPERATURE] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_RESET] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_WRITE_UID] = RESPONSE_EXPECTED_FALSE @response_expected[FUNCTION_READ_UID] = RESPONSE_EXPECTED_ALWAYS_TRUE @response_expected[FUNCTION_GET_IDENTITY] = RESPONSE_EXPECTED_ALWAYS_TRUE @callback_formats[CALLBACK_DISTANCE] = [10, 's'] @callback_formats[CALLBACK_VELOCITY] = [10, 's'] @ipcon.add_device self end
Public Instance Methods
Returns the current bootloader mode, see BrickletLaserRangeFinderV2#set_bootloader_mode
.
# File lib/tinkerforge/bricklet_laser_range_finder_v2.rb, line 379 def get_bootloader_mode check_validity send_request FUNCTION_GET_BOOTLOADER_MODE, [], '', 9, 'C' end
Returns the temperature as measured inside the microcontroller. The value returned is not the ambient temperature!
The temperature is only proportional to the real temperature and it has bad accuracy. Practically it is only useful as an indicator for temperature changes.
# File lib/tinkerforge/bricklet_laser_range_finder_v2.rb, line 437 def get_chip_temperature check_validity send_request FUNCTION_GET_CHIP_TEMPERATURE, [], '', 10, 's' end
Returns the configuration as set by BrickletLaserRangeFinderV2#set_configuration
.
# File lib/tinkerforge/bricklet_laser_range_finder_v2.rb, line 285 def get_configuration check_validity send_request FUNCTION_GET_CONFIGURATION, [], '', 13, 'C ? C S' end
Returns the measured distance.
The laser has to be enabled, see BrickletLaserRangeFinderV2#set_enable
.
If you want to get the value periodically, it is recommended to use the CALLBACK_DISTANCE
callback. You can set the callback configuration with BrickletLaserRangeFinderV2#set_distance_callback_configuration
.
# File lib/tinkerforge/bricklet_laser_range_finder_v2.rb, line 135 def get_distance check_validity send_request FUNCTION_GET_DISTANCE, [], '', 10, 's' end
Returns the callback configuration as set by BrickletLaserRangeFinderV2#set_distance_callback_configuration
.
# File lib/tinkerforge/bricklet_laser_range_finder_v2.rb, line 173 def get_distance_callback_configuration check_validity send_request FUNCTION_GET_DISTANCE_CALLBACK_CONFIGURATION, [], '', 18, 'L ? k s s' end
Returns the LED configuration as set by BrickletLaserRangeFinderV2#set_distance_led_config
# File lib/tinkerforge/bricklet_laser_range_finder_v2.rb, line 340 def get_distance_led_config check_validity send_request FUNCTION_GET_DISTANCE_LED_CONFIG, [], '', 9, 'C' end
Returns the value as set by BrickletLaserRangeFinderV2#set_enable
.
# File lib/tinkerforge/bricklet_laser_range_finder_v2.rb, line 245 def get_enable check_validity send_request FUNCTION_GET_ENABLE, [], '', 9, '?' end
Returns the UID, the UID where the Bricklet is connected to, the position, the hardware and firmware version as well as the device identifier.
The position can be 'a', 'b', 'c', 'd', 'e', 'f', 'g' or 'h' (Bricklet Port). A Bricklet connected to an :ref:`Isolator Bricklet <isolator_bricklet>` is always at position 'z'.
The device identifier numbers can be found :ref:`here <device_identifier>`. |device_identifier_constant|
# File lib/tinkerforge/bricklet_laser_range_finder_v2.rb, line 484 def get_identity send_request FUNCTION_GET_IDENTITY, [], '', 33, 'Z8 Z8 k C3 C3 S' end
Returns the length moving average as set by BrickletLaserRangeFinderV2#set_moving_average
.
# File lib/tinkerforge/bricklet_laser_range_finder_v2.rb, line 303 def get_moving_average check_validity send_request FUNCTION_GET_MOVING_AVERAGE, [], '', 10, 'C C' end
Returns the offset value as set by BrickletLaserRangeFinderV2#set_offset_calibration
.
# File lib/tinkerforge/bricklet_laser_range_finder_v2.rb, line 325 def get_offset_calibration check_validity send_request FUNCTION_GET_OFFSET_CALIBRATION, [], '', 10, 's' end
Returns the error count for the communication between Brick and Bricklet.
The errors are divided into
-
ACK checksum errors,
-
message checksum errors,
-
framing errors and
-
overflow errors.
The errors counts are for errors that occur on the Bricklet side. All Bricks have a similar function that returns the errors on the Brick side.
# File lib/tinkerforge/bricklet_laser_range_finder_v2.rb, line 357 def get_spitfp_error_count check_validity send_request FUNCTION_GET_SPITFP_ERROR_COUNT, [], '', 24, 'L L L L' end
Returns the configuration as set by BrickletLaserRangeFinderV2#set_status_led_config
# File lib/tinkerforge/bricklet_laser_range_finder_v2.rb, line 425 def get_status_led_config check_validity send_request FUNCTION_GET_STATUS_LED_CONFIG, [], '', 9, 'C' end
Returns the measured velocity. The value has a range of -12800 to 12700 and is given in 1/100 m/s.
The velocity measurement only produces stables results if a fixed measurement rate (see BrickletLaserRangeFinderV2#set_configuration
) is configured. Also the laser has to be enabled, see BrickletLaserRangeFinderV2#set_enable
.
If you want to get the value periodically, it is recommended to use the CALLBACK_VELOCITY
callback. You can set the callback configuration with BrickletLaserRangeFinderV2#set_velocity_callback_configuration
.
# File lib/tinkerforge/bricklet_laser_range_finder_v2.rb, line 190 def get_velocity check_validity send_request FUNCTION_GET_VELOCITY, [], '', 10, 's' end
Returns the callback configuration as set by BrickletLaserRangeFinderV2#set_velocity_callback_configuration
.
# File lib/tinkerforge/bricklet_laser_range_finder_v2.rb, line 228 def get_velocity_callback_configuration check_validity send_request FUNCTION_GET_VELOCITY_CALLBACK_CONFIGURATION, [], '', 18, 'L ? k s s' end
Returns the current UID as an integer. Encode as Base58
to get the usual string version.
# File lib/tinkerforge/bricklet_laser_range_finder_v2.rb, line 468 def read_uid check_validity send_request FUNCTION_READ_UID, [], '', 12, 'L' end
Registers a callback with ID id
to the block block
.
# File lib/tinkerforge/bricklet_laser_range_finder_v2.rb, line 489 def register_callback(id, &block) callback = block @registered_callbacks[id] = callback end
Calling this function will reset the Bricklet. All configurations will be lost.
After a reset you have to create new device objects, calling functions on the existing ones will result in undefined behavior!
# File lib/tinkerforge/bricklet_laser_range_finder_v2.rb, line 449 def reset check_validity send_request FUNCTION_RESET, [], '', 8, '' end
Sets the bootloader mode and returns the status after the requested mode change was instigated.
You can change from bootloader mode to firmware mode and vice versa. A change from bootloader mode to firmware mode will only take place if the entry function, device identifier and CRC are present and correct.
This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.
# File lib/tinkerforge/bricklet_laser_range_finder_v2.rb, line 372 def set_bootloader_mode(mode) check_validity send_request FUNCTION_SET_BOOTLOADER_MODE, [mode], 'C', 9, 'C' end
The **Acquisition Count** defines the number of times the Laser Range Finder Bricklet will integrate acquisitions to find a correlation record peak. With a higher count, the Bricklet can measure longer distances. With a lower count, the rate increases. The allowed values are 1-255.
If you set **Enable Quick Termination** to true, the distance measurement will be terminated early if a high peak was already detected. This means that a higher measurement rate can be achieved and long distances can be measured at the same time. However, the chance of false-positive distance measurements increases.
Normally the distance is calculated with a detection algorithm that uses peak value, signal strength and noise. You can however also define a fixed **Threshold Value**. Set this to a low value if you want to measure the distance to something that has very little reflection (e.g. glass) and set it to a high value if you want to measure the distance to something with a very high reflection (e.g. mirror). Set this to 0 to use the default algorithm. The other allowed values are 1-255.
Set the **Measurement Frequency** to force a fixed measurement rate. If set to 0, the Laser Range Finder Bricklet will use the optimal frequency according to the other configurations and the actual measured distance. Since the rate is not fixed in this case, the velocity measurement is not stable. For a stable velocity measurement you should set a fixed measurement frequency. The lower the frequency, the higher is the resolution of the calculated velocity. The allowed values are 10Hz-500Hz (and 0 to turn the fixed frequency off).
The default values for Acquisition Count, Enable Quick Termination, Threshold Value and Measurement Frequency are 128, false, 0 and 0.
# File lib/tinkerforge/bricklet_laser_range_finder_v2.rb, line 278 def set_configuration(acquisition_count, enable_quick_termination, threshold_value, measurement_frequency) check_validity send_request FUNCTION_SET_CONFIGURATION, [acquisition_count, enable_quick_termination, threshold_value, measurement_frequency], 'C ? C S', 8, '' end
The period is the period with which the CALLBACK_DISTANCE
callback is triggered periodically. A value of 0 turns the callback off.
If the `value has to change`-parameter is set to true, the callback is only triggered after the value has changed. If the value didn't change within the period, the callback is triggered immediately on change.
If it is set to false, the callback is continuously triggered with the period, independent of the value.
It is furthermore possible to constrain the callback with thresholds.
The `option`-parameter together with min/max sets a threshold for the CALLBACK_DISTANCE
callback.
The following options are possible:
"Option", "Description" "'x'", "Threshold is turned off" "'o'", "Threshold is triggered when the value is *outside* the min and max values" "'i'", "Threshold is triggered when the value is *inside* or equal to the min and max values" "'<'", "Threshold is triggered when the value is smaller than the min value (max is ignored)" "'>'", "Threshold is triggered when the value is greater than the min value (max is ignored)"
If the option is set to 'x' (threshold turned off) the callback is triggered with the fixed period.
# File lib/tinkerforge/bricklet_laser_range_finder_v2.rb, line 166 def set_distance_callback_configuration(period, value_has_to_change, option, min, max) check_validity send_request FUNCTION_SET_DISTANCE_CALLBACK_CONFIGURATION, [period, value_has_to_change, option, min, max], 'L ? k s s', 8, '' end
Configures the distance LED to be either turned off, turned on, blink in heartbeat mode or show the distance (brighter = object is nearer).
# File lib/tinkerforge/bricklet_laser_range_finder_v2.rb, line 333 def set_distance_led_config(config) check_validity send_request FUNCTION_SET_DISTANCE_LED_CONFIG, [config], 'C', 8, '' end
Enables the laser of the LIDAR if set to true.
We recommend that you wait 250ms after enabling the laser before the first call of BrickletLaserRangeFinderV2#get_distance
to ensure stable measurements.
# File lib/tinkerforge/bricklet_laser_range_finder_v2.rb, line 238 def set_enable(enable) check_validity send_request FUNCTION_SET_ENABLE, [enable], '?', 8, '' end
Sets the length of a `moving averaging <
# File lib/tinkerforge/bricklet_laser_range_finder_v2.rb, line 296
def set_moving_average(distance_average_length, velocity_average_length)
check_validity
send_request FUNCTION_SET_MOVING_AVERAGE, [distance_average_length, velocity_average_length], 'C C', 8, ''
end
The offset is added to the measured distance. It is saved in non-volatile memory, you only have to set it once.
The Bricklet comes with a per-sensor factory-calibrated offset value, you should not have to call this function.
If you want to re-calibrate the offset you first have to set it to 0. Calculate the offset by measuring the distance to a known distance and set it again.
# File lib/tinkerforge/bricklet_laser_range_finder_v2.rb, line 318 def set_offset_calibration(offset) check_validity send_request FUNCTION_SET_OFFSET_CALIBRATION, [offset], 's', 8, '' end
Sets the status LED configuration. By default the LED shows communication traffic between Brick and Bricklet, it flickers once for every 10 received data packets.
You can also turn the LED permanently on/off or show a heartbeat.
If the Bricklet is in bootloader mode, the LED is will show heartbeat by default.
# File lib/tinkerforge/bricklet_laser_range_finder_v2.rb, line 418 def set_status_led_config(config) check_validity send_request FUNCTION_SET_STATUS_LED_CONFIG, [config], 'C', 8, '' end
The period is the period with which the CALLBACK_VELOCITY
callback is triggered periodically. A value of 0 turns the callback off.
If the `value has to change`-parameter is set to true, the callback is only triggered after the value has changed. If the value didn't change within the period, the callback is triggered immediately on change.
If it is set to false, the callback is continuously triggered with the period, independent of the value.
It is furthermore possible to constrain the callback with thresholds.
The `option`-parameter together with min/max sets a threshold for the CALLBACK_VELOCITY
callback.
The following options are possible:
"Option", "Description" "'x'", "Threshold is turned off" "'o'", "Threshold is triggered when the value is *outside* the min and max values" "'i'", "Threshold is triggered when the value is *inside* or equal to the min and max values" "'<'", "Threshold is triggered when the value is smaller than the min value (max is ignored)" "'>'", "Threshold is triggered when the value is greater than the min value (max is ignored)"
If the option is set to 'x' (threshold turned off) the callback is triggered with the fixed period.
# File lib/tinkerforge/bricklet_laser_range_finder_v2.rb, line 221 def set_velocity_callback_configuration(period, value_has_to_change, option, min, max) check_validity send_request FUNCTION_SET_VELOCITY_CALLBACK_CONFIGURATION, [period, value_has_to_change, option, min, max], 'L ? k s s', 8, '' end
Sets the firmware pointer for BrickletLaserRangeFinderV2#write_firmware
. The pointer has to be increased by chunks of size 64. The data is written to flash every 4 chunks (which equals to one page of size 256).
This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.
# File lib/tinkerforge/bricklet_laser_range_finder_v2.rb, line 391 def set_write_firmware_pointer(pointer) check_validity send_request FUNCTION_SET_WRITE_FIRMWARE_POINTER, [pointer], 'L', 8, '' end
Writes 64 Bytes of firmware at the position as written by BrickletLaserRangeFinderV2#set_write_firmware_pointer
before. The firmware is written to flash every 4 chunks.
You can only write firmware in bootloader mode.
This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.
# File lib/tinkerforge/bricklet_laser_range_finder_v2.rb, line 405 def write_firmware(data) check_validity send_request FUNCTION_WRITE_FIRMWARE, [data], 'C64', 9, 'C' end
Writes a new UID into flash. If you want to set a new UID you have to decode the Base58
encoded UID string into an integer first.
We recommend that you use Brick Viewer to change the UID.
# File lib/tinkerforge/bricklet_laser_range_finder_v2.rb, line 460 def write_uid(uid) check_validity send_request FUNCTION_WRITE_UID, [uid], 'L', 8, '' end