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

new(uid, ipcon) click to toggle source

Creates an object with the unique device ID uid and adds it to the IP Connection ipcon.

Calls superclass method
# 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

get_bootloader_mode() click to toggle source

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
get_chip_temperature() click to toggle source

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
get_configuration() click to toggle source

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
get_distance() click to toggle source

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
get_distance_callback_configuration() click to toggle source

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
get_distance_led_config() click to toggle source

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
get_enable() click to toggle source

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
get_identity() click to toggle source

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
get_moving_average() click to toggle source

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
get_offset_calibration() click to toggle source

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
get_spitfp_error_count() click to toggle source

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
get_status_led_config() click to toggle source

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
get_velocity() click to toggle source

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
get_velocity_callback_configuration() click to toggle source

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
read_uid() click to toggle source

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
register_callback(id, &block) click to toggle source

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
reset() click to toggle source

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
set_bootloader_mode(mode) click to toggle source

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
set_configuration(acquisition_count, enable_quick_termination, threshold_value, measurement_frequency) click to toggle source

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
set_distance_callback_configuration(period, value_has_to_change, option, min, max) click to toggle source

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
set_distance_led_config(config) click to toggle source

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
set_enable(enable) click to toggle source

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
set_offset_calibration(offset) click to toggle source

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
set_status_led_config(config) click to toggle source

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
set_velocity_callback_configuration(period, value_has_to_change, option, min, max) click to toggle source

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
set_write_firmware_pointer(pointer) click to toggle source

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
write_firmware(data) click to toggle source

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
write_uid(uid) click to toggle source

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