laser_range_finder_v2_bricklet

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 Go to latest Published: Feb 27, 2024 License: CC0-1.0 Imports: 5 Imported by: 0

Documentation

Overview

Measures distance up to 40m with laser light.

See also the documentation here: https://www.tinkerforge.com/en/doc/Software/Bricklets/LaserRangeFinderV2_Bricklet_Go.html.

Index

Constants

View Source 
const DeviceDisplayName = "Laser Range Finder Bricklet 2.0"
View Source 
const DeviceIdentifier = 2144

Variables

This section is empty.

Functions

This section is empty.

Types

type BootloaderMode 

type BootloaderMode = uint8
const (
	BootloaderModeBootloader                    BootloaderMode = 0
	BootloaderModeFirmware                      BootloaderMode = 1
	BootloaderModeBootloaderWaitForReboot       BootloaderMode = 2
	BootloaderModeFirmwareWaitForReboot         BootloaderMode = 3
	BootloaderModeFirmwareWaitForEraseAndReboot BootloaderMode = 4
)

type BootloaderStatus 

type BootloaderStatus = uint8
const (
	BootloaderStatusOK                        BootloaderStatus = 0
	BootloaderStatusInvalidMode               BootloaderStatus = 1
	BootloaderStatusNoChange                  BootloaderStatus = 2
	BootloaderStatusEntryFunctionNotPresent   BootloaderStatus = 3
	BootloaderStatusDeviceIdentifierIncorrect BootloaderStatus = 4
	BootloaderStatusCRCMismatch               BootloaderStatus = 5
)

type DistanceLEDConfig 

type DistanceLEDConfig = uint8
const (
	DistanceLEDConfigOff           DistanceLEDConfig = 0
	DistanceLEDConfigOn            DistanceLEDConfig = 1
	DistanceLEDConfigShowHeartbeat DistanceLEDConfig = 2
	DistanceLEDConfigShowDistance  DistanceLEDConfig = 3
)

type Function 

type Function = uint8
const (
	FunctionGetDistance                      Function = 1
	FunctionSetDistanceCallbackConfiguration Function = 2
	FunctionGetDistanceCallbackConfiguration Function = 3
	FunctionGetVelocity                      Function = 5
	FunctionSetVelocityCallbackConfiguration Function = 6
	FunctionGetVelocityCallbackConfiguration Function = 7
	FunctionSetEnable                        Function = 9
	FunctionGetEnable                        Function = 10
	FunctionSetConfiguration                 Function = 11
	FunctionGetConfiguration                 Function = 12
	FunctionSetMovingAverage                 Function = 13
	FunctionGetMovingAverage                 Function = 14
	FunctionSetOffsetCalibration             Function = 15
	FunctionGetOffsetCalibration             Function = 16
	FunctionSetDistanceLEDConfig             Function = 17
	FunctionGetDistanceLEDConfig             Function = 18
	FunctionGetSPITFPErrorCount              Function = 234
	FunctionSetBootloaderMode                Function = 235
	FunctionGetBootloaderMode                Function = 236
	FunctionSetWriteFirmwarePointer          Function = 237
	FunctionWriteFirmware                    Function = 238
	FunctionSetStatusLEDConfig               Function = 239
	FunctionGetStatusLEDConfig               Function = 240
	FunctionGetChipTemperature               Function = 242
	FunctionReset                            Function = 243
	FunctionWriteUID                         Function = 248
	FunctionReadUID                          Function = 249
	FunctionGetIdentity                      Function = 255
	FunctionCallbackDistance                 Function = 4
	FunctionCallbackVelocity                 Function = 8
)

type LaserRangeFinderV2Bricklet 

type LaserRangeFinderV2Bricklet struct {
	// contains filtered or unexported fields
}

func New 

func New(uid string, ipcon *ipconnection.IPConnection) (LaserRangeFinderV2Bricklet, error)

Creates an object with the unique device ID `uid`. This object can then be used after the IP Connection `ipcon` is connected.

func (*LaserRangeFinderV2Bricklet) DeregisterDistanceCallback 

func (device *LaserRangeFinderV2Bricklet) DeregisterDistanceCallback(registrationId uint64)

Remove a registered Distance callback.

func (*LaserRangeFinderV2Bricklet) DeregisterVelocityCallback 

func (device *LaserRangeFinderV2Bricklet) DeregisterVelocityCallback(registrationId uint64)

Remove a registered Velocity callback.

func (*LaserRangeFinderV2Bricklet) GetAPIVersion 

func (device *LaserRangeFinderV2Bricklet) GetAPIVersion() [3]uint8

Returns the version of the API definition (major, minor, revision) implemented by this API bindings. This is neither the release version of this API bindings nor does it tell you anything about the represented Brick or Bricklet.

func (*LaserRangeFinderV2Bricklet) GetBootloaderMode 

func (device *LaserRangeFinderV2Bricklet) GetBootloaderMode() (mode BootloaderMode, err error)

Returns the current bootloader mode, see SetBootloaderMode.

Associated constants:

  • BootloaderModeBootloader
  • BootloaderModeFirmware
  • BootloaderModeBootloaderWaitForReboot
  • BootloaderModeFirmwareWaitForReboot
  • BootloaderModeFirmwareWaitForEraseAndReboot

func (*LaserRangeFinderV2Bricklet) GetChipTemperature 

func (device *LaserRangeFinderV2Bricklet) GetChipTemperature() (temperature int16, err error)

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.

func (*LaserRangeFinderV2Bricklet) GetConfiguration 

func (device *LaserRangeFinderV2Bricklet) GetConfiguration() (acquisitionCount uint8, enableQuickTermination bool, thresholdValue uint8, measurementFrequency uint16, err error)

Returns the configuration as set by SetConfiguration.

func (*LaserRangeFinderV2Bricklet) GetDistance 

func (device *LaserRangeFinderV2Bricklet) GetDistance() (distance int16, err error)

Returns the measured distance.

The laser has to be enabled, see SetEnable.

If you want to get the value periodically, it is recommended to use the RegisterDistanceCallback callback. You can set the callback configuration with SetDistanceCallbackConfiguration.

func (*LaserRangeFinderV2Bricklet) GetDistanceCallbackConfiguration 

func (device *LaserRangeFinderV2Bricklet) GetDistanceCallbackConfiguration() (period uint32, valueHasToChange bool, option ThresholdOption, min int16, max int16, err error)

Returns the callback configuration as set by SetDistanceCallbackConfiguration.

Associated constants:

  • ThresholdOptionOff
  • ThresholdOptionOutside
  • ThresholdOptionInside
  • ThresholdOptionSmaller
  • ThresholdOptionGreater

func (*LaserRangeFinderV2Bricklet) GetDistanceLEDConfig 

func (device *LaserRangeFinderV2Bricklet) GetDistanceLEDConfig() (config DistanceLEDConfig, err error)

Returns the LED configuration as set by SetDistanceLEDConfig

Associated constants:

  • DistanceLEDConfigOff
  • DistanceLEDConfigOn
  • DistanceLEDConfigShowHeartbeat
  • DistanceLEDConfigShowDistance

func (*LaserRangeFinderV2Bricklet) GetEnable 

func (device *LaserRangeFinderV2Bricklet) GetEnable() (enable bool, err error)

Returns the value as set by SetEnable.

func (*LaserRangeFinderV2Bricklet) GetIdentity 

func (device *LaserRangeFinderV2Bricklet) GetIdentity() (uid string, connectedUid string, position rune, hardwareVersion [3]uint8, firmwareVersion [3]uint8, deviceIdentifier uint16, err error)

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 `Isolator Bricklet <isolator_bricklet>` is always at position 'z'.

The device identifier numbers can be found `here <device_identifier>`. |device_identifier_constant|

func (*LaserRangeFinderV2Bricklet) GetMovingAverage 

func (device *LaserRangeFinderV2Bricklet) GetMovingAverage() (distanceAverageLength uint8, velocityAverageLength uint8, err error)

Returns the length moving average as set by SetMovingAverage.

func (*LaserRangeFinderV2Bricklet) GetOffsetCalibration 

func (device *LaserRangeFinderV2Bricklet) GetOffsetCalibration() (offset int16, err error)

Returns the offset value as set by SetOffsetCalibration.

func (*LaserRangeFinderV2Bricklet) GetResponseExpected 

func (device *LaserRangeFinderV2Bricklet) GetResponseExpected(functionID Function) (bool, error)

Returns the response expected flag for the function specified by the function ID parameter. It is true if the function is expected to send a response, false otherwise.

For getter functions this is enabled by default and cannot be disabled, because those functions will always send a response. For callback configuration functions it is enabled by default too, but can be disabled by SetResponseExpected. For setter functions it is disabled by default and can be enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is sent and errors are silently ignored, because they cannot be detected.

See SetResponseExpected for the list of function ID constants available for this function.

func (*LaserRangeFinderV2Bricklet) GetSPITFPErrorCount 

func (device *LaserRangeFinderV2Bricklet) GetSPITFPErrorCount() (errorCountAckChecksum uint32, errorCountMessageChecksum uint32, errorCountFrame uint32, errorCountOverflow uint32, err error)

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.

func (*LaserRangeFinderV2Bricklet) GetStatusLEDConfig 

func (device *LaserRangeFinderV2Bricklet) GetStatusLEDConfig() (config StatusLEDConfig, err error)

Returns the configuration as set by SetStatusLEDConfig

Associated constants:

  • StatusLEDConfigOff
  • StatusLEDConfigOn
  • StatusLEDConfigShowHeartbeat
  • StatusLEDConfigShowStatus

func (*LaserRangeFinderV2Bricklet) GetVelocity 

func (device *LaserRangeFinderV2Bricklet) GetVelocity() (velocity int16, err error)

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 SetConfiguration) is configured. Also the laser has to be enabled, see SetEnable.

If you want to get the value periodically, it is recommended to use the RegisterVelocityCallback callback. You can set the callback configuration with SetVelocityCallbackConfiguration.

func (*LaserRangeFinderV2Bricklet) GetVelocityCallbackConfiguration 

func (device *LaserRangeFinderV2Bricklet) GetVelocityCallbackConfiguration() (period uint32, valueHasToChange bool, option ThresholdOption, min int16, max int16, err error)

Returns the callback configuration as set by SetVelocityCallbackConfiguration.

Associated constants:

  • ThresholdOptionOff
  • ThresholdOptionOutside
  • ThresholdOptionInside
  • ThresholdOptionSmaller
  • ThresholdOptionGreater

func (*LaserRangeFinderV2Bricklet) ReadUID 

func (device *LaserRangeFinderV2Bricklet) ReadUID() (uid uint32, err error)

Returns the current UID as an integer. Encode as Base58 to get the usual string version.

func (*LaserRangeFinderV2Bricklet) RegisterDistanceCallback 

func (device *LaserRangeFinderV2Bricklet) RegisterDistanceCallback(fn func(int16)) uint64

This callback is triggered periodically according to the configuration set by SetDistanceCallbackConfiguration.

The parameter is the same as GetDistance.

func (*LaserRangeFinderV2Bricklet) RegisterVelocityCallback 

func (device *LaserRangeFinderV2Bricklet) RegisterVelocityCallback(fn func(int16)) uint64

This callback is triggered periodically according to the configuration set by SetVelocityCallbackConfiguration.

The parameter is the same as GetVelocity.

func (*LaserRangeFinderV2Bricklet) Reset 

func (device *LaserRangeFinderV2Bricklet) Reset() (err error)

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!

func (*LaserRangeFinderV2Bricklet) SetBootloaderMode 

func (device *LaserRangeFinderV2Bricklet) SetBootloaderMode(mode BootloaderMode) (status BootloaderStatus, err error)

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.

Associated constants:

  • BootloaderModeBootloader
  • BootloaderModeFirmware
  • BootloaderModeBootloaderWaitForReboot
  • BootloaderModeFirmwareWaitForReboot
  • BootloaderModeFirmwareWaitForEraseAndReboot
  • BootloaderStatusOK
  • BootloaderStatusInvalidMode
  • BootloaderStatusNoChange
  • BootloaderStatusEntryFunctionNotPresent
  • BootloaderStatusDeviceIdentifierIncorrect
  • BootloaderStatusCRCMismatch

func (*LaserRangeFinderV2Bricklet) SetConfiguration 

func (device *LaserRangeFinderV2Bricklet) SetConfiguration(acquisitionCount uint8, enableQuickTermination bool, thresholdValue uint8, measurementFrequency uint16) (err error)

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.

func (*LaserRangeFinderV2Bricklet) SetDistanceCallbackConfiguration 

func (device *LaserRangeFinderV2Bricklet) SetDistanceCallbackConfiguration(period uint32, valueHasToChange bool, option ThresholdOption, min int16, max int16) (err error)

The period is the period with which the RegisterDistanceCallback 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 RegisterDistanceCallback 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.

Associated constants:

  • ThresholdOptionOff
  • ThresholdOptionOutside
  • ThresholdOptionInside
  • ThresholdOptionSmaller
  • ThresholdOptionGreater

func (*LaserRangeFinderV2Bricklet) SetDistanceLEDConfig 

func (device *LaserRangeFinderV2Bricklet) SetDistanceLEDConfig(config DistanceLEDConfig) (err error)

Configures the distance LED to be either turned off, turned on, blink in heartbeat mode or show the distance (brighter = object is nearer).

Associated constants:

  • DistanceLEDConfigOff
  • DistanceLEDConfigOn
  • DistanceLEDConfigShowHeartbeat
  • DistanceLEDConfigShowDistance

func (*LaserRangeFinderV2Bricklet) SetEnable 

func (device *LaserRangeFinderV2Bricklet) SetEnable(enable bool) (err error)

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 GetDistance to ensure stable measurements.

func (*LaserRangeFinderV2Bricklet) SetMovingAverage 

func (device *LaserRangeFinderV2Bricklet) SetMovingAverage(distanceAverageLength uint8, velocityAverageLength uint8) (err error)

Sets the length of a https://en.wikipedia.org/wiki/Moving_average for the distance and velocity.

Setting the length to 0 will turn the averaging completely off. With less averaging, there is more noise on the data.

func (*LaserRangeFinderV2Bricklet) SetOffsetCalibration 

func (device *LaserRangeFinderV2Bricklet) SetOffsetCalibration(offset int16) (err error)

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.

func (*LaserRangeFinderV2Bricklet) SetResponseExpected 

func (device *LaserRangeFinderV2Bricklet) SetResponseExpected(functionID Function, responseExpected bool) error

Changes the response expected flag of the function specified by the function ID parameter. This flag can only be changed for setter (default value: false) and callback configuration functions (default value: true). For getter functions it is always enabled.

Enabling the response expected flag for a setter function allows to detect timeouts and other error conditions calls of this setter as well. The device will then send a response for this purpose. If this flag is disabled for a setter function then no response is sent and errors are silently ignored, because they cannot be detected.

func (*LaserRangeFinderV2Bricklet) SetResponseExpectedAll 

func (device *LaserRangeFinderV2Bricklet) SetResponseExpectedAll(responseExpected bool)

Changes the response expected flag for all setter and callback configuration functions of this device at once.

func (*LaserRangeFinderV2Bricklet) SetStatusLEDConfig 

func (device *LaserRangeFinderV2Bricklet) SetStatusLEDConfig(config StatusLEDConfig) (err error)

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.

Associated constants:

  • StatusLEDConfigOff
  • StatusLEDConfigOn
  • StatusLEDConfigShowHeartbeat
  • StatusLEDConfigShowStatus

func (*LaserRangeFinderV2Bricklet) SetVelocityCallbackConfiguration 

func (device *LaserRangeFinderV2Bricklet) SetVelocityCallbackConfiguration(period uint32, valueHasToChange bool, option ThresholdOption, min int16, max int16) (err error)

The period is the period with which the RegisterVelocityCallback 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 RegisterVelocityCallback 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.

Associated constants:

  • ThresholdOptionOff
  • ThresholdOptionOutside
  • ThresholdOptionInside
  • ThresholdOptionSmaller
  • ThresholdOptionGreater

func (*LaserRangeFinderV2Bricklet) SetWriteFirmwarePointer 

func (device *LaserRangeFinderV2Bricklet) SetWriteFirmwarePointer(pointer uint32) (err error)

Sets the firmware pointer for WriteFirmware. 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.

func (*LaserRangeFinderV2Bricklet) WriteFirmware 

func (device *LaserRangeFinderV2Bricklet) WriteFirmware(data [64]uint8) (status uint8, err error)

Writes 64 Bytes of firmware at the position as written by SetWriteFirmwarePointer 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.

func (*LaserRangeFinderV2Bricklet) WriteUID 

func (device *LaserRangeFinderV2Bricklet) WriteUID(uid uint32) (err error)

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.

type StatusLEDConfig 

type StatusLEDConfig = uint8
const (
	StatusLEDConfigOff           StatusLEDConfig = 0
	StatusLEDConfigOn            StatusLEDConfig = 1
	StatusLEDConfigShowHeartbeat StatusLEDConfig = 2
	StatusLEDConfigShowStatus    StatusLEDConfig = 3
)

type ThresholdOption 

type ThresholdOption = rune
const (
	ThresholdOptionOff     ThresholdOption = 'x'
	ThresholdOptionOutside ThresholdOption = 'o'
	ThresholdOptionInside  ThresholdOption = 'i'
	ThresholdOptionSmaller ThresholdOption = '<'
	ThresholdOptionGreater ThresholdOption = '>'
)

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