Package com.tinkerforge
Class BrickletDistanceIRV2
- java.lang.Object
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- com.tinkerforge.DeviceBase
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- com.tinkerforge.Device
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- com.tinkerforge.BrickletDistanceIRV2
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public class BrickletDistanceIRV2 extends Device
Measures distance up to 150cm with infrared light
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Nested Class Summary
Nested Classes Modifier and Type Class Description class
BrickletDistanceIRV2.AnalogValueCallbackConfiguration
static interface
BrickletDistanceIRV2.AnalogValueListener
This listener is triggered periodically according to the configuration set bysetAnalogValueCallbackConfiguration(long, boolean, char, long, long)
.class
BrickletDistanceIRV2.DistanceCallbackConfiguration
static interface
BrickletDistanceIRV2.DistanceListener
This listener is triggered periodically according to the configuration set bysetDistanceCallbackConfiguration(long, boolean, char, int, int)
.class
BrickletDistanceIRV2.SPITFPErrorCount
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Nested classes/interfaces inherited from class com.tinkerforge.Device
Device.Identity
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Field Summary
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Constructor Summary
Constructors Constructor Description BrickletDistanceIRV2(java.lang.String uid, IPConnection ipcon)
Creates an object with the unique device ID \c uid.
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Method Summary
All Methods Instance Methods Concrete Methods Modifier and Type Method Description void
addAnalogValueListener(BrickletDistanceIRV2.AnalogValueListener listener)
Adds a AnalogValue listener.void
addDistanceListener(BrickletDistanceIRV2.DistanceListener listener)
Adds a Distance listener.long
getAnalogValue()
Returns the analog value as read by a analog-to-digital converter.BrickletDistanceIRV2.AnalogValueCallbackConfiguration
getAnalogValueCallbackConfiguration()
Returns the listener configuration as set bysetAnalogValueCallbackConfiguration(long, boolean, char, long, long)
.int
getBootloaderMode()
Returns the current bootloader mode, seesetBootloaderMode(int)
.int
getChipTemperature()
Returns the temperature as measured inside the microcontroller.int
getDistance()
Returns the distance measured by the sensor.BrickletDistanceIRV2.DistanceCallbackConfiguration
getDistanceCallbackConfiguration()
Returns the listener configuration as set bysetDistanceCallbackConfiguration(long, boolean, char, int, int)
.int
getDistanceLEDConfig()
Returns the LED configuration as set bysetDistanceLEDConfig(int)
Device.Identity
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.int
getMovingAverageConfiguration()
Returns the moving average configuration as set bysetMovingAverageConfiguration(int)
.int
getSensorType()
Returns the sensor type as set bysetSensorType(int)
.BrickletDistanceIRV2.SPITFPErrorCount
getSPITFPErrorCount()
Returns the error count for the communication between Brick and Bricklet.int
getStatusLEDConfig()
Returns the configuration as set bysetStatusLEDConfig(int)
long
readUID()
Returns the current UID as an integer.void
removeAnalogValueListener(BrickletDistanceIRV2.AnalogValueListener listener)
Removes a AnalogValue listener.void
removeDistanceListener(BrickletDistanceIRV2.DistanceListener listener)
Removes a Distance listener.void
reset()
Calling this function will reset the Bricklet.void
setAnalogValueCallbackConfiguration(long period, boolean valueHasToChange, char option, long min, long max)
The period is the period with which theBrickletDistanceIRV2.AnalogValueListener
listener is triggered periodically.int
setBootloaderMode(int mode)
Sets the bootloader mode and returns the status after the requested mode change was instigated.void
setDistanceCallbackConfiguration(long period, boolean valueHasToChange, char option, int min, int max)
The period is the period with which theBrickletDistanceIRV2.DistanceListener
listener is triggered periodically.void
setDistanceLEDConfig(int config)
Configures the distance LED to be either turned off, turned on, blink in heartbeat mode or show the distance (brighter = object is nearer).void
setMovingAverageConfiguration(int movingAverageLength)
Sets the length of a `moving averaging <https://en.wikipedia.org/wiki/Moving_average>`__ for the distance.void
setSensorType(int sensor)
Sets the sensor type.void
setStatusLEDConfig(int config)
Sets the status LED configuration.void
setWriteFirmwarePointer(long pointer)
Sets the firmware pointer forwriteFirmware(int[])
.int
writeFirmware(int[] data)
Writes 64 Bytes of firmware at the position as written bysetWriteFirmwarePointer(long)
before.void
writeUID(long uid)
Writes a new UID into flash.-
Methods inherited from class com.tinkerforge.DeviceBase
getAPIVersion, getResponseExpected, setResponseExpected, setResponseExpectedAll
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Field Detail
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DEVICE_IDENTIFIER
public static final int DEVICE_IDENTIFIER
- See Also:
- Constant Field Values
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DEVICE_DISPLAY_NAME
public static final java.lang.String DEVICE_DISPLAY_NAME
- See Also:
- Constant Field Values
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FUNCTION_GET_DISTANCE
public static final byte FUNCTION_GET_DISTANCE
- See Also:
- Constant Field Values
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FUNCTION_SET_DISTANCE_CALLBACK_CONFIGURATION
public static final byte FUNCTION_SET_DISTANCE_CALLBACK_CONFIGURATION
- See Also:
- Constant Field Values
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FUNCTION_GET_DISTANCE_CALLBACK_CONFIGURATION
public static final byte FUNCTION_GET_DISTANCE_CALLBACK_CONFIGURATION
- See Also:
- Constant Field Values
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FUNCTION_GET_ANALOG_VALUE
public static final byte FUNCTION_GET_ANALOG_VALUE
- See Also:
- Constant Field Values
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FUNCTION_SET_ANALOG_VALUE_CALLBACK_CONFIGURATION
public static final byte FUNCTION_SET_ANALOG_VALUE_CALLBACK_CONFIGURATION
- See Also:
- Constant Field Values
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FUNCTION_GET_ANALOG_VALUE_CALLBACK_CONFIGURATION
public static final byte FUNCTION_GET_ANALOG_VALUE_CALLBACK_CONFIGURATION
- See Also:
- Constant Field Values
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FUNCTION_SET_MOVING_AVERAGE_CONFIGURATION
public static final byte FUNCTION_SET_MOVING_AVERAGE_CONFIGURATION
- See Also:
- Constant Field Values
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FUNCTION_GET_MOVING_AVERAGE_CONFIGURATION
public static final byte FUNCTION_GET_MOVING_AVERAGE_CONFIGURATION
- See Also:
- Constant Field Values
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FUNCTION_SET_DISTANCE_LED_CONFIG
public static final byte FUNCTION_SET_DISTANCE_LED_CONFIG
- See Also:
- Constant Field Values
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FUNCTION_GET_DISTANCE_LED_CONFIG
public static final byte FUNCTION_GET_DISTANCE_LED_CONFIG
- See Also:
- Constant Field Values
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FUNCTION_SET_SENSOR_TYPE
public static final byte FUNCTION_SET_SENSOR_TYPE
- See Also:
- Constant Field Values
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FUNCTION_GET_SENSOR_TYPE
public static final byte FUNCTION_GET_SENSOR_TYPE
- See Also:
- Constant Field Values
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FUNCTION_GET_SPITFP_ERROR_COUNT
public static final byte FUNCTION_GET_SPITFP_ERROR_COUNT
- See Also:
- Constant Field Values
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FUNCTION_SET_BOOTLOADER_MODE
public static final byte FUNCTION_SET_BOOTLOADER_MODE
- See Also:
- Constant Field Values
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FUNCTION_GET_BOOTLOADER_MODE
public static final byte FUNCTION_GET_BOOTLOADER_MODE
- See Also:
- Constant Field Values
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FUNCTION_SET_WRITE_FIRMWARE_POINTER
public static final byte FUNCTION_SET_WRITE_FIRMWARE_POINTER
- See Also:
- Constant Field Values
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FUNCTION_WRITE_FIRMWARE
public static final byte FUNCTION_WRITE_FIRMWARE
- See Also:
- Constant Field Values
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FUNCTION_SET_STATUS_LED_CONFIG
public static final byte FUNCTION_SET_STATUS_LED_CONFIG
- See Also:
- Constant Field Values
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FUNCTION_GET_STATUS_LED_CONFIG
public static final byte FUNCTION_GET_STATUS_LED_CONFIG
- See Also:
- Constant Field Values
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FUNCTION_GET_CHIP_TEMPERATURE
public static final byte FUNCTION_GET_CHIP_TEMPERATURE
- See Also:
- Constant Field Values
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FUNCTION_RESET
public static final byte FUNCTION_RESET
- See Also:
- Constant Field Values
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FUNCTION_WRITE_UID
public static final byte FUNCTION_WRITE_UID
- See Also:
- Constant Field Values
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FUNCTION_READ_UID
public static final byte FUNCTION_READ_UID
- See Also:
- Constant Field Values
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FUNCTION_GET_IDENTITY
public static final byte FUNCTION_GET_IDENTITY
- See Also:
- Constant Field Values
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THRESHOLD_OPTION_OFF
public static final char THRESHOLD_OPTION_OFF
- See Also:
- Constant Field Values
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THRESHOLD_OPTION_OUTSIDE
public static final char THRESHOLD_OPTION_OUTSIDE
- See Also:
- Constant Field Values
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THRESHOLD_OPTION_INSIDE
public static final char THRESHOLD_OPTION_INSIDE
- See Also:
- Constant Field Values
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THRESHOLD_OPTION_SMALLER
public static final char THRESHOLD_OPTION_SMALLER
- See Also:
- Constant Field Values
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THRESHOLD_OPTION_GREATER
public static final char THRESHOLD_OPTION_GREATER
- See Also:
- Constant Field Values
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DISTANCE_LED_CONFIG_OFF
public static final int DISTANCE_LED_CONFIG_OFF
- See Also:
- Constant Field Values
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DISTANCE_LED_CONFIG_ON
public static final int DISTANCE_LED_CONFIG_ON
- See Also:
- Constant Field Values
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DISTANCE_LED_CONFIG_SHOW_HEARTBEAT
public static final int DISTANCE_LED_CONFIG_SHOW_HEARTBEAT
- See Also:
- Constant Field Values
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DISTANCE_LED_CONFIG_SHOW_DISTANCE
public static final int DISTANCE_LED_CONFIG_SHOW_DISTANCE
- See Also:
- Constant Field Values
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SENSOR_TYPE_2Y0A41
public static final int SENSOR_TYPE_2Y0A41
- See Also:
- Constant Field Values
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SENSOR_TYPE_2Y0A21
public static final int SENSOR_TYPE_2Y0A21
- See Also:
- Constant Field Values
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SENSOR_TYPE_2Y0A02
public static final int SENSOR_TYPE_2Y0A02
- See Also:
- Constant Field Values
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BOOTLOADER_MODE_BOOTLOADER
public static final int BOOTLOADER_MODE_BOOTLOADER
- See Also:
- Constant Field Values
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BOOTLOADER_MODE_FIRMWARE
public static final int BOOTLOADER_MODE_FIRMWARE
- See Also:
- Constant Field Values
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BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT
public static final int BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT
- See Also:
- Constant Field Values
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BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT
public static final int BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT
- See Also:
- Constant Field Values
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BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT
public static final int BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT
- See Also:
- Constant Field Values
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BOOTLOADER_STATUS_OK
public static final int BOOTLOADER_STATUS_OK
- See Also:
- Constant Field Values
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BOOTLOADER_STATUS_INVALID_MODE
public static final int BOOTLOADER_STATUS_INVALID_MODE
- See Also:
- Constant Field Values
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BOOTLOADER_STATUS_NO_CHANGE
public static final int BOOTLOADER_STATUS_NO_CHANGE
- See Also:
- Constant Field Values
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BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT
public static final int BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT
- See Also:
- Constant Field Values
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BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT
public static final int BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT
- See Also:
- Constant Field Values
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BOOTLOADER_STATUS_CRC_MISMATCH
public static final int BOOTLOADER_STATUS_CRC_MISMATCH
- See Also:
- Constant Field Values
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STATUS_LED_CONFIG_OFF
public static final int STATUS_LED_CONFIG_OFF
- See Also:
- Constant Field Values
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STATUS_LED_CONFIG_ON
public static final int STATUS_LED_CONFIG_ON
- See Also:
- Constant Field Values
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STATUS_LED_CONFIG_SHOW_HEARTBEAT
public static final int STATUS_LED_CONFIG_SHOW_HEARTBEAT
- See Also:
- Constant Field Values
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STATUS_LED_CONFIG_SHOW_STATUS
public static final int STATUS_LED_CONFIG_SHOW_STATUS
- See Also:
- Constant Field Values
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Constructor Detail
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BrickletDistanceIRV2
public BrickletDistanceIRV2(java.lang.String uid, IPConnection ipcon)
Creates an object with the unique device ID \c uid. and adds it to the IP Connection \c ipcon.
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Method Detail
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getDistance
public int getDistance() throws TinkerforgeException
Returns the distance measured by the sensor. 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 value periodically, it is recommended to use theBrickletDistanceIRV2.DistanceListener
listener. You can set the listener configuration withsetDistanceCallbackConfiguration(long, boolean, char, int, int)
.- Throws:
TinkerforgeException
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setDistanceCallbackConfiguration
public void setDistanceCallbackConfiguration(long period, boolean valueHasToChange, char option, int min, int max) throws TinkerforgeException
The period is the period with which theBrickletDistanceIRV2.DistanceListener
listener is triggered periodically. A value of 0 turns the listener off. If the `value has to change`-parameter is set to true, the listener is only triggered after the value has changed. If the value didn't change within the period, the listener is triggered immediately on change. If it is set to false, the listener is continuously triggered with the period, independent of the value. It is furthermore possible to constrain the listener with thresholds. The `option`-parameter together with min/max sets a threshold for theBrickletDistanceIRV2.DistanceListener
listener. The following options are possible: \verbatim "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)" \endverbatim If the option is set to 'x' (threshold turned off) the listener is triggered with the fixed period.- Throws:
TinkerforgeException
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getDistanceCallbackConfiguration
public BrickletDistanceIRV2.DistanceCallbackConfiguration getDistanceCallbackConfiguration() throws TinkerforgeException
Returns the listener configuration as set bysetDistanceCallbackConfiguration(long, boolean, char, int, int)
.- Throws:
TinkerforgeException
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getAnalogValue
public long getAnalogValue() throws TinkerforgeException
Returns the analog value as read by a analog-to-digital converter. This is unfiltered raw data. We made sure that the integration time of the ADC is shorter then the measurement interval of the sensor (10ms vs 16.5ms). So there is no information lost. If you want to do your own calibration or create your own lookup table you can use this value. If you want to get the value periodically, it is recommended to use theBrickletDistanceIRV2.AnalogValueListener
listener. You can set the listener configuration withsetAnalogValueCallbackConfiguration(long, boolean, char, long, long)
.- Throws:
TinkerforgeException
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setAnalogValueCallbackConfiguration
public void setAnalogValueCallbackConfiguration(long period, boolean valueHasToChange, char option, long min, long max) throws TinkerforgeException
The period is the period with which theBrickletDistanceIRV2.AnalogValueListener
listener is triggered periodically. A value of 0 turns the listener off. If the `value has to change`-parameter is set to true, the listener is only triggered after the value has changed. If the value didn't change within the period, the listener is triggered immediately on change. If it is set to false, the listener is continuously triggered with the period, independent of the value. It is furthermore possible to constrain the listener with thresholds. The `option`-parameter together with min/max sets a threshold for theBrickletDistanceIRV2.AnalogValueListener
listener. The following options are possible: \verbatim "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)" \endverbatim If the option is set to 'x' (threshold turned off) the listener is triggered with the fixed period.- Throws:
TinkerforgeException
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getAnalogValueCallbackConfiguration
public BrickletDistanceIRV2.AnalogValueCallbackConfiguration getAnalogValueCallbackConfiguration() throws TinkerforgeException
Returns the listener configuration as set bysetAnalogValueCallbackConfiguration(long, boolean, char, long, long)
.- Throws:
TinkerforgeException
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setMovingAverageConfiguration
public void setMovingAverageConfiguration(int movingAverageLength) throws TinkerforgeException
Sets the length of a `moving averaging <https://en.wikipedia.org/wiki/Moving_average>`__ for the distance. Setting the length to 1 will turn the averaging off. With less averaging, there is more noise on the data. New data is gathered every ~10ms. With a moving average of length 1000 the resulting averaging window has a length of approximately 10s. If you want to do long term measurements the longest moving average will give the cleanest results.- Throws:
TinkerforgeException
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getMovingAverageConfiguration
public int getMovingAverageConfiguration() throws TinkerforgeException
Returns the moving average configuration as set bysetMovingAverageConfiguration(int)
.- Throws:
TinkerforgeException
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setDistanceLEDConfig
public void setDistanceLEDConfig(int config) throws TinkerforgeException
Configures the distance LED to be either turned off, turned on, blink in heartbeat mode or show the distance (brighter = object is nearer).- Throws:
TinkerforgeException
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getDistanceLEDConfig
public int getDistanceLEDConfig() throws TinkerforgeException
Returns the LED configuration as set bysetDistanceLEDConfig(int)
- Throws:
TinkerforgeException
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setSensorType
public void setSensorType(int sensor) throws TinkerforgeException
Sets the sensor type. The Bricklet comes configured with the correct sensor type and the type is saved in flash (i.e. the Bricklet retains the information if power is lost). If you want to change the sensor you can set the type in Brick Viewer, you will likely never need to call this function from your program.- Throws:
TinkerforgeException
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getSensorType
public int getSensorType() throws TinkerforgeException
Returns the sensor type as set bysetSensorType(int)
.- Throws:
TinkerforgeException
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getSPITFPErrorCount
public BrickletDistanceIRV2.SPITFPErrorCount getSPITFPErrorCount() throws TinkerforgeException
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.- Throws:
TinkerforgeException
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setBootloaderMode
public int setBootloaderMode(int mode) throws TinkerforgeException
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.- Throws:
TinkerforgeException
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getBootloaderMode
public int getBootloaderMode() throws TinkerforgeException
Returns the current bootloader mode, seesetBootloaderMode(int)
.- Throws:
TinkerforgeException
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setWriteFirmwarePointer
public void setWriteFirmwarePointer(long pointer) throws TinkerforgeException
Sets the firmware pointer forwriteFirmware(int[])
. 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.- Throws:
TinkerforgeException
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writeFirmware
public int writeFirmware(int[] data) throws TinkerforgeException
Writes 64 Bytes of firmware at the position as written bysetWriteFirmwarePointer(long)
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.- Throws:
TinkerforgeException
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setStatusLEDConfig
public void setStatusLEDConfig(int config) throws TinkerforgeException
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.- Throws:
TinkerforgeException
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getStatusLEDConfig
public int getStatusLEDConfig() throws TinkerforgeException
Returns the configuration as set bysetStatusLEDConfig(int)
- Throws:
TinkerforgeException
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getChipTemperature
public int getChipTemperature() throws TinkerforgeException
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.- Throws:
TinkerforgeException
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reset
public void reset() throws TinkerforgeException
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!- Throws:
TinkerforgeException
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writeUID
public void writeUID(long uid) throws TinkerforgeException
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.- Throws:
TinkerforgeException
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readUID
public long readUID() throws TinkerforgeException
Returns the current UID as an integer. Encode as Base58 to get the usual string version.- Throws:
TinkerforgeException
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getIdentity
public Device.Identity getIdentity() throws TinkerforgeException
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|- Specified by:
getIdentity
in classDevice
- Throws:
TinkerforgeException
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addDistanceListener
public void addDistanceListener(BrickletDistanceIRV2.DistanceListener listener)
Adds a Distance listener.
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removeDistanceListener
public void removeDistanceListener(BrickletDistanceIRV2.DistanceListener listener)
Removes a Distance listener.
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addAnalogValueListener
public void addAnalogValueListener(BrickletDistanceIRV2.AnalogValueListener listener)
Adds a AnalogValue listener.
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removeAnalogValueListener
public void removeAnalogValueListener(BrickletDistanceIRV2.AnalogValueListener listener)
Removes a AnalogValue listener.
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