This is the description of the TCP/IP protocol for the Distance US Bricklet. General information and technical specifications for the Distance US Bricklet are summarized in its hardware description.
A general description of the TCP/IP protocol structure can be found here.
Function ID: | 1 |
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Request: | empty payload |
Response: |
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Returns the current distance value measured by the sensor. The value has a range of 0 to 4095. A small value corresponds to a small distance, a big value corresponds to a big distance. The relation between the measured distance value and the actual distance is affected by the 5V supply voltage (deviations in the supply voltage result in deviations in the distance values) and is non-linear (resolution is bigger at close range).
If you want to get the distance value periodically, it is recommended to use the callback CALLBACK_DISTANCE and set the period with set_distance_callback_period.
Function ID: | 10 |
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Request: |
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Response: | no response |
Sets the length of a moving averaging for the distance value.
Setting the length to 0 will turn the averaging completely off. With less averaging, there is more noise on the data.
The range for the averaging is 0-100.
The default value is 20.
Function ID: | 11 |
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Request: | empty payload |
Response: |
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Returns the length moving average as set by set_moving_average.
Function ID: | 255 |
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Request: | empty payload |
Response: |
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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' or 'd'.
The device identifier numbers can be found here.
Function ID: | 2 |
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Request: |
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Response: | no response |
Sets the period in ms with which the CALLBACK_DISTANCE callback is triggered periodically. A value of 0 turns the callback off.
CALLBACK_DISTANCE is only triggered if the distance value has changed since the last triggering.
The default value is 0.
Function ID: | 3 |
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Request: | empty payload |
Response: |
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Returns the period as set by set_distance_callback_period.
Function ID: | 4 |
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Request: |
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Response: | no response |
Sets the thresholds for the CALLBACK_DISTANCE_REACHED callback.
The following options are possible:
Option | Description |
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'x' | Callback is turned off |
'o' | Callback is triggered when the distance value is outside the min and max values |
'i' | Callback is triggered when the distance value is inside the min and max values |
'<' | Callback is triggered when the distance value is smaller than the min value (max is ignored) |
'>' | Callback is triggered when the distance value is greater than the min value (max is ignored) |
The default value is ('x', 0, 0).
Function ID: | 5 |
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Request: | empty payload |
Response: |
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Returns the threshold as set by set_distance_callback_threshold.
Function ID: | 6 |
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Request: |
|
Response: | no response |
Sets the period in ms with which the threshold callbacks
are triggered, if the thresholds
keep being reached.
The default value is 100.
Function ID: | 7 |
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Request: | empty payload |
Response: |
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Returns the debounce period as set by set_debounce_period.
Function ID: | 8 |
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Response: |
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This callback is triggered periodically with the period that is set by set_distance_callback_period. The response value is the distance value of the sensor.
CALLBACK_DISTANCE is only triggered if the distance value has changed since the last triggering.
Function ID: | 9 |
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Response: |
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This callback is triggered when the threshold as set by set_distance_callback_threshold is reached. The response value is the distance value of the sensor.
If the threshold keeps being reached, the callback is triggered periodically with the period as set by set_debounce_period.