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:breadcrumbs: <a href="../../index.html">Home</a> / <a href="../../index.html#software-matlab">Software</a> / MATLAB/Octave - Distance IR Bricklet

.. |device_identifier_constant| replace:: There is also a :ref:`constant <distance_ir_bricklet_matlab_constants>` for the device identifier of this Bricklet.

.. _distance_ir_bricklet_matlab:

MATLAB/Octave - Distance IR Bricklet
====================================

This is the description of the :ref:`MATLAB/Octave API bindings <api_bindings_matlab>` for the :ref:`Distance IR Bricklet <distance_ir_bricklet>`. General information and technical
specifications for the Distance IR Bricklet are summarized in its :ref:`hardware description
<distance_ir_bricklet_description>`.

An :ref:`installation guide <api_bindings_matlab_install>` for the MATLAB/Octave API
bindings is part of their general description.

.. _distance_ir_bricklet_matlab_examples:


Examples
--------

The example code below is `Public Domain (CC0 1.0)
<http://creativecommons.org/publicdomain/zero/1.0/>`__.

Simple (MATLAB)
^^^^^^^^^^^^^^^

`Download (matlab_example_simple.m) <https://github.com/Tinkerforge/distance-ir-bricklet/raw/master/software/examples/matlab/matlab_example_simple.m>`__

.. literalinclude:: DistanceIR_Bricklet_MATLAB_matlab_example_simple.m
 :language: matlab
 :linenos:
 :tab-width: 4

Callback (MATLAB)
^^^^^^^^^^^^^^^^^

`Download (matlab_example_callback.m) <https://github.com/Tinkerforge/distance-ir-bricklet/raw/master/software/examples/matlab/matlab_example_callback.m>`__

.. literalinclude:: DistanceIR_Bricklet_MATLAB_matlab_example_callback.m
 :language: matlab
 :linenos:
 :tab-width: 4

Threshold (MATLAB)
^^^^^^^^^^^^^^^^^^

`Download (matlab_example_threshold.m) <https://github.com/Tinkerforge/distance-ir-bricklet/raw/master/software/examples/matlab/matlab_example_threshold.m>`__

.. literalinclude:: DistanceIR_Bricklet_MATLAB_matlab_example_threshold.m
 :language: matlab
 :linenos:
 :tab-width: 4

Simple (Octave)
^^^^^^^^^^^^^^^

`Download (octave_example_simple.m) <https://github.com/Tinkerforge/distance-ir-bricklet/raw/master/software/examples/matlab/octave_example_simple.m>`__

.. literalinclude:: DistanceIR_Bricklet_MATLAB_octave_example_simple.m
 :language: octave_fixed
 :linenos:
 :tab-width: 4

Callback (Octave)
^^^^^^^^^^^^^^^^^

`Download (octave_example_callback.m) <https://github.com/Tinkerforge/distance-ir-bricklet/raw/master/software/examples/matlab/octave_example_callback.m>`__

.. literalinclude:: DistanceIR_Bricklet_MATLAB_octave_example_callback.m
 :language: octave_fixed
 :linenos:
 :tab-width: 4

Threshold (Octave)
^^^^^^^^^^^^^^^^^^

`Download (octave_example_threshold.m) <https://github.com/Tinkerforge/distance-ir-bricklet/raw/master/software/examples/matlab/octave_example_threshold.m>`__

.. literalinclude:: DistanceIR_Bricklet_MATLAB_octave_example_threshold.m
 :language: octave_fixed
 :linenos:
 :tab-width: 4

.. _distance_ir_bricklet_matlab_api:

API
---

Generally, every method of the MATLAB bindings that returns a value can
throw a ``TimeoutException``. This exception gets thrown if the
device did not respond. If a cable based connection is used, it is
unlikely that this exception gets thrown (assuming nobody unplugs the
device). However, if a wireless connection is used, timeouts will occur
if the distance to the device gets too big.

Beside the ``TimeoutException`` there is also a ``NotConnectedException`` that
is thrown if a method needs to communicate with the device while the
IP Connection is not connected.

Since the MATLAB bindings are based on Java and Java does not support multiple
return values and return by reference is not possible for primitive types, we
use small classes that only consist of member variables. The member variables
of the returned objects are described in the corresponding method descriptions.

The package for all Brick/Bricklet bindings and the IP Connection is
``com.tinkerforge.*``

All methods listed below are thread-safe.




Basic Functions
^^^^^^^^^^^^^^^


.. matlab:function:: class BrickletDistanceIR(String uid, IPConnection ipcon)

 Creates an object with the unique device ID ``uid``.

 In MATLAB:

 .. code-block:: matlab

  import com.tinkerforge.BrickletDistanceIR;

  distanceIR = BrickletDistanceIR('YOUR_DEVICE_UID', ipcon);

 In Octave:

 .. code-block:: octave_fixed

  distanceIR = java_new("com.tinkerforge.BrickletDistanceIR", "YOUR_DEVICE_UID", ipcon);

 This object can then be used after the IP Connection is connected
 (see examples :ref:`above <distance_ir_bricklet_matlab_examples>`).


.. matlab:function:: public int BrickletDistanceIR::getDistance()

 Returns the distance measured by the sensor. The value is in mm and possible
 distance ranges are 40 to 300, 100 to 800 and 200 to 1500, depending on the
 selected IR sensor.
 
 If you want to get the distance periodically, it is recommended to use the
 callback :matlab:member:`DistanceCallback <BrickletDistanceIR.DistanceCallback>` and set the period with 
 :matlab:func:`setDistanceCallbackPeriod() <BrickletDistanceIR::setDistanceCallbackPeriod>`.
 


Advanced Functions
^^^^^^^^^^^^^^^^^^

.. matlab:function:: public int BrickletDistanceIR::getAnalogValue()

 Returns the value as read by a 12-bit analog-to-digital converter.
 The value is between 0 and 4095.
 
 .. note::
  The value returned by :matlab:func:`getDistance() <BrickletDistanceIR::getDistance>` is averaged over several samples
  to yield less noise, while :matlab:func:`getAnalogValue() <BrickletDistanceIR::getAnalogValue>` gives back raw
  unfiltered analog values. The only reason to use :matlab:func:`getAnalogValue() <BrickletDistanceIR::getAnalogValue>` is,
  if you need the full resolution of the analog-to-digital converter.
 
 If you want the analog value periodically, it is recommended to use the 
 callback :matlab:member:`AnalogValueCallback <BrickletDistanceIR.AnalogValueCallback>` and set the period with 
 :matlab:func:`setAnalogValueCallbackPeriod() <BrickletDistanceIR::setAnalogValueCallbackPeriod>`.
 
.. matlab:function:: public void BrickletDistanceIR::setSamplingPoint(short position, int distance)

 Sets a sampling point value to a specific position of the lookup table.
 The lookup table comprises 128 equidistant analog values with
 corresponding distances.
 
 If you measure a distance of 50cm at the analog value 2048, you
 should call this function with (64, 5000). The utilized analog-to-digital
 converter has a resolution of 12 bit. With 128 sampling points on the
 whole range, this means that every sampling point has a size of 32
 analog values. Thus the analog value 2048 has the corresponding sampling
 point 64 = 2048/32.
 
 Sampling points are saved on the EEPROM of the Distance IR Bricklet and
 loaded again on startup.
 
 .. note::
  An easy way to calibrate the sampling points of the Distance IR Bricklet is
  implemented in the Brick Viewer. If you want to calibrate your Bricklet it is
  highly recommended to use this implementation.
 
.. matlab:function:: public int BrickletDistanceIR::getSamplingPoint(short position)

 Returns the distance to a sampling point position as set by
 :matlab:func:`setSamplingPoint() <BrickletDistanceIR::setSamplingPoint>`.
 
.. matlab:function:: public short[] BrickletDistanceIR::getAPIVersion()

 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.
 
.. matlab:function:: public boolean BrickletDistanceIR::getResponseExpected(short functionId)

 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
 :matlab:func:`setResponseExpected() <BrickletDistanceIR::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 send and errors are silently ignored,
 because they cannot be detected.
 
 See :matlab:func:`setResponseExpected() <BrickletDistanceIR::setResponseExpected>`
 for the list of function ID constants available for this function.
 
.. matlab:function:: public void BrickletDistanceIR::setResponseExpected(short functionId, boolean responseExpected)

 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 and callbacks it is always disabled.
 
 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 send and errors are silently ignored,
 because they cannot be detected.
 
 The following function ID constants are available for this function:
 
 * BrickletDistanceIR.FUNCTION_SET_SAMPLING_POINT = 3
 * BrickletDistanceIR.FUNCTION_SET_DISTANCE_CALLBACK_PERIOD = 5
 * BrickletDistanceIR.FUNCTION_SET_ANALOG_VALUE_CALLBACK_PERIOD = 7
 * BrickletDistanceIR.FUNCTION_SET_DISTANCE_CALLBACK_THRESHOLD = 9
 * BrickletDistanceIR.FUNCTION_SET_ANALOG_VALUE_CALLBACK_THRESHOLD = 11
 * BrickletDistanceIR.FUNCTION_SET_DEBOUNCE_PERIOD = 13
 
.. matlab:function:: public void BrickletDistanceIR::setResponseExpectedAll(boolean responseExpected)

 Changes the response expected flag for all setter and callback configuration
 functions of this device at once.
 
.. matlab:function:: public BrickletDistanceIR.Identity BrickletDistanceIR::getIdentity()

 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 :ref:`here <device_identifier>`.
 |device_identifier_constant|
 
 The returned object has the public member variables ``String uid``, ``String connectedUid``, ``char position``, ``short[] hardwareVersion``, ``short[] firmwareVersion`` and ``int deviceIdentifier``.



Callback Configuration Functions
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

.. matlab:function:: public void BrickletDistanceIR::setDistanceCallbackPeriod(long period)

 Sets the period in ms with which the :matlab:member:`DistanceCallback <BrickletDistanceIR.DistanceCallback>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
 :matlab:member:`DistanceCallback <BrickletDistanceIR.DistanceCallback>` is only triggered if the distance has changed since the
 last triggering.
 
 The default value is 0.
 
.. matlab:function:: public long BrickletDistanceIR::getDistanceCallbackPeriod()

 Returns the period as set by :matlab:func:`setDistanceCallbackPeriod() <BrickletDistanceIR::setDistanceCallbackPeriod>`.
 
.. matlab:function:: public void BrickletDistanceIR::setAnalogValueCallbackPeriod(long period)

 Sets the period in ms with which the :matlab:member:`AnalogValueCallback <BrickletDistanceIR.AnalogValueCallback>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
 :matlab:member:`AnalogValueCallback <BrickletDistanceIR.AnalogValueCallback>` is only triggered if the analog value has changed since the
 last triggering.
 
 The default value is 0.
 
.. matlab:function:: public long BrickletDistanceIR::getAnalogValueCallbackPeriod()

 Returns the period as set by :matlab:func:`setAnalogValueCallbackPeriod() <BrickletDistanceIR::setAnalogValueCallbackPeriod>`.
 
.. matlab:function:: public void BrickletDistanceIR::setDistanceCallbackThreshold(char option, short min, short max)

 Sets the thresholds for the :matlab:member:`DistanceReachedCallback <BrickletDistanceIR.DistanceReachedCallback>` callback. 
 
 The following options are possible:
 
 .. csv-table::
  :header: "Option", "Description"
  :widths: 10, 100
 
  "'x'",    "Callback is turned off"
  "'o'",    "Callback is triggered when the distance is *outside* the min and max values"
  "'i'",    "Callback is triggered when the distance is *inside* the min and max values"
  "'<'",    "Callback is triggered when the distance is smaller than the min value (max is ignored)"
  "'>'",    "Callback is triggered when the distance is greater than the min value (max is ignored)"
 
 The default value is ('x', 0, 0).
 
 The following constants are available for this function:
 
 * BrickletDistanceIR.THRESHOLD_OPTION_OFF = 'x'
 * BrickletDistanceIR.THRESHOLD_OPTION_OUTSIDE = 'o'
 * BrickletDistanceIR.THRESHOLD_OPTION_INSIDE = 'i'
 * BrickletDistanceIR.THRESHOLD_OPTION_SMALLER = '<'
 * BrickletDistanceIR.THRESHOLD_OPTION_GREATER = '>'
 
.. matlab:function:: public BrickletDistanceIR.DistanceCallbackThreshold BrickletDistanceIR::getDistanceCallbackThreshold()

 Returns the threshold as set by :matlab:func:`setDistanceCallbackThreshold() <BrickletDistanceIR::setDistanceCallbackThreshold>`.
 
 The following constants are available for this function:
 
 * BrickletDistanceIR.THRESHOLD_OPTION_OFF = 'x'
 * BrickletDistanceIR.THRESHOLD_OPTION_OUTSIDE = 'o'
 * BrickletDistanceIR.THRESHOLD_OPTION_INSIDE = 'i'
 * BrickletDistanceIR.THRESHOLD_OPTION_SMALLER = '<'
 * BrickletDistanceIR.THRESHOLD_OPTION_GREATER = '>'
 
 The returned object has the public member variables ``char option``, ``short min`` and ``short max``.

.. matlab:function:: public void BrickletDistanceIR::setAnalogValueCallbackThreshold(char option, int min, int max)

 Sets the thresholds for the :matlab:member:`AnalogValueReachedCallback <BrickletDistanceIR.AnalogValueReachedCallback>` callback. 
 
 The following options are possible:
 
 .. csv-table::
  :header: "Option", "Description"
  :widths: 10, 100
 
  "'x'",    "Callback is turned off"
  "'o'",    "Callback is triggered when the analog value is *outside* the min and max values"
  "'i'",    "Callback is triggered when the analog value is *inside* the min and max values"
  "'<'",    "Callback is triggered when the analog value is smaller than the min value (max is ignored)"
  "'>'",    "Callback is triggered when the analog value is greater than the min value (max is ignored)"
 
 The default value is ('x', 0, 0).
 
 The following constants are available for this function:
 
 * BrickletDistanceIR.THRESHOLD_OPTION_OFF = 'x'
 * BrickletDistanceIR.THRESHOLD_OPTION_OUTSIDE = 'o'
 * BrickletDistanceIR.THRESHOLD_OPTION_INSIDE = 'i'
 * BrickletDistanceIR.THRESHOLD_OPTION_SMALLER = '<'
 * BrickletDistanceIR.THRESHOLD_OPTION_GREATER = '>'
 
.. matlab:function:: public BrickletDistanceIR.AnalogValueCallbackThreshold BrickletDistanceIR::getAnalogValueCallbackThreshold()

 Returns the threshold as set by :matlab:func:`setAnalogValueCallbackThreshold() <BrickletDistanceIR::setAnalogValueCallbackThreshold>`.
 
 The following constants are available for this function:
 
 * BrickletDistanceIR.THRESHOLD_OPTION_OFF = 'x'
 * BrickletDistanceIR.THRESHOLD_OPTION_OUTSIDE = 'o'
 * BrickletDistanceIR.THRESHOLD_OPTION_INSIDE = 'i'
 * BrickletDistanceIR.THRESHOLD_OPTION_SMALLER = '<'
 * BrickletDistanceIR.THRESHOLD_OPTION_GREATER = '>'
 
 The returned object has the public member variables ``char option``, ``int min`` and ``int max``.

.. matlab:function:: public void BrickletDistanceIR::setDebouncePeriod(long debounce)

 Sets the period in ms with which the threshold callbacks
 
 * :matlab:member:`DistanceReachedCallback <BrickletDistanceIR.DistanceReachedCallback>`,
 * :matlab:member:`AnalogValueReachedCallback <BrickletDistanceIR.AnalogValueReachedCallback>`
 
 are triggered, if the thresholds
 
 * :matlab:func:`setDistanceCallbackThreshold() <BrickletDistanceIR::setDistanceCallbackThreshold>`,
 * :matlab:func:`setAnalogValueCallbackThreshold() <BrickletDistanceIR::setAnalogValueCallbackThreshold>`
 
 keep being reached.
 
 The default value is 100.
 
.. matlab:function:: public long BrickletDistanceIR::getDebouncePeriod()

 Returns the debounce period as set by :matlab:func:`setDebouncePeriod() <BrickletDistanceIR::setDebouncePeriod>`.
 


.. _distance_ir_bricklet_matlab_callbacks:

Callbacks
^^^^^^^^^

Callbacks can be registered to receive time critical or recurring data from
the device. The registration is done with "set" function of MATLAB. The
parameters consist of the IP Connection object, the callback name and the
callback function. For example, it looks like this in MATLAB:

.. code-block:: matlab

    function cb_example(e)
        fprintf('Parameter: %s\n', e.param);
    end

    set(device, 'ExampleCallback', @(h, e) cb_example(e));

Due to a difference in the Octave Java support the "set" function cannot be
used in Octave. The registration is done with "add*Callback" functions of the
device object. It looks like this in Octave:

.. code-block:: octave_fixed

    function cb_example(e)
        fprintf("Parameter: %s\n", e.param);
    end

    device.addExampleCallback(@cb_example);

It is possible to add several callbacks and to remove them with the
corresponding "remove*Callback" function.

The parameters of the callback are passed to the callback function as fields of
the structure ``e``, which is derived from the ``java.util.EventObject`` class.
The available callback names with corresponding structure fields are described
below.

.. note::
 Using callbacks for recurring events is *always* preferred
 compared to using getters. It will use less USB bandwidth and the latency
 will be a lot better, since there is no round trip time.



.. matlab:member:: public callback BrickletDistanceIR.DistanceCallback

 :param distance: int


 This callback is triggered periodically with the period that is set by
 :matlab:func:`setDistanceCallbackPeriod() <BrickletDistanceIR::setDistanceCallbackPeriod>`. The parameter is the distance of the
 sensor.
 
 :matlab:member:`DistanceCallback <BrickletDistanceIR.DistanceCallback>` is only triggered if the distance has changed since the
 last triggering.
 

 In MATLAB the ``set()`` function can be used to register a callback function
 to this callback.

 In Octave a callback function can be added to this callback using the
 ``addDistanceCallback()`` function. An added callback function can be removed with
 the ``removeDistanceCallback()`` function.


.. matlab:member:: public callback BrickletDistanceIR.AnalogValueCallback

 :param value: int


 This callback is triggered periodically with the period that is set by
 :matlab:func:`setAnalogValueCallbackPeriod() <BrickletDistanceIR::setAnalogValueCallbackPeriod>`. The parameter is the analog value of the
 sensor.
 
 :matlab:member:`AnalogValueCallback <BrickletDistanceIR.AnalogValueCallback>` is only triggered if the analog value has changed since the
 last triggering.
 

 In MATLAB the ``set()`` function can be used to register a callback function
 to this callback.

 In Octave a callback function can be added to this callback using the
 ``addAnalogValueCallback()`` function. An added callback function can be removed with
 the ``removeAnalogValueCallback()`` function.


.. matlab:member:: public callback BrickletDistanceIR.DistanceReachedCallback

 :param distance: int


 This callback is triggered when the threshold as set by
 :matlab:func:`setDistanceCallbackThreshold() <BrickletDistanceIR::setDistanceCallbackThreshold>` is reached.
 The parameter is the distance of the sensor.
 
 If the threshold keeps being reached, the callback is triggered periodically
 with the period as set by :matlab:func:`setDebouncePeriod() <BrickletDistanceIR::setDebouncePeriod>`.
 

 In MATLAB the ``set()`` function can be used to register a callback function
 to this callback.

 In Octave a callback function can be added to this callback using the
 ``addDistanceReachedCallback()`` function. An added callback function can be removed with
 the ``removeDistanceReachedCallback()`` function.


.. matlab:member:: public callback BrickletDistanceIR.AnalogValueReachedCallback

 :param value: int


 This callback is triggered when the threshold as set by
 :matlab:func:`setAnalogValueCallbackThreshold() <BrickletDistanceIR::setAnalogValueCallbackThreshold>` is reached.
 The parameter is the analog value of the sensor.
 
 If the threshold keeps being reached, the callback is triggered periodically
 with the period as set by :matlab:func:`setDebouncePeriod() <BrickletDistanceIR::setDebouncePeriod>`.
 

 In MATLAB the ``set()`` function can be used to register a callback function
 to this callback.

 In Octave a callback function can be added to this callback using the
 ``addAnalogValueReachedCallback()`` function. An added callback function can be removed with
 the ``removeAnalogValueReachedCallback()`` function.



.. _distance_ir_bricklet_matlab_constants:

Constants
^^^^^^^^^

.. matlab:member:: public static final int BrickletDistanceIR.DEVICE_IDENTIFIER

 This constant is used to identify a Distance IR Bricklet.

 The :matlab:func:`getIdentity() <BrickletDistanceIR::getIdentity>` function and the
 :matlab:member:`EnumerateCallback <IPConnection.EnumerateCallback>`
 callback of the IP Connection have a ``deviceIdentifier`` parameter to specify
 the Brick's or Bricklet's type.

