Class BrickletLaserRangeFinderV2


  • public class BrickletLaserRangeFinderV2
    extends Device
    Measures distance up to 40m with laser light
    • Field Detail

      • DEVICE_DISPLAY_NAME

        public static final java.lang.String DEVICE_DISPLAY_NAME
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      • FUNCTION_SET_DISTANCE_CALLBACK_CONFIGURATION

        public static final byte FUNCTION_SET_DISTANCE_CALLBACK_CONFIGURATION
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      • FUNCTION_GET_DISTANCE_CALLBACK_CONFIGURATION

        public static final byte FUNCTION_GET_DISTANCE_CALLBACK_CONFIGURATION
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      • FUNCTION_SET_VELOCITY_CALLBACK_CONFIGURATION

        public static final byte FUNCTION_SET_VELOCITY_CALLBACK_CONFIGURATION
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      • FUNCTION_GET_VELOCITY_CALLBACK_CONFIGURATION

        public static final byte FUNCTION_GET_VELOCITY_CALLBACK_CONFIGURATION
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      • FUNCTION_SET_CONFIGURATION

        public static final byte FUNCTION_SET_CONFIGURATION
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      • FUNCTION_GET_CONFIGURATION

        public static final byte FUNCTION_GET_CONFIGURATION
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      • FUNCTION_SET_MOVING_AVERAGE

        public static final byte FUNCTION_SET_MOVING_AVERAGE
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      • FUNCTION_GET_MOVING_AVERAGE

        public static final byte FUNCTION_GET_MOVING_AVERAGE
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      • FUNCTION_SET_OFFSET_CALIBRATION

        public static final byte FUNCTION_SET_OFFSET_CALIBRATION
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      • FUNCTION_GET_OFFSET_CALIBRATION

        public static final byte FUNCTION_GET_OFFSET_CALIBRATION
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      • FUNCTION_SET_DISTANCE_LED_CONFIG

        public static final byte FUNCTION_SET_DISTANCE_LED_CONFIG
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      • FUNCTION_GET_DISTANCE_LED_CONFIG

        public static final byte FUNCTION_GET_DISTANCE_LED_CONFIG
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      • FUNCTION_GET_SPITFP_ERROR_COUNT

        public static final byte FUNCTION_GET_SPITFP_ERROR_COUNT
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      • FUNCTION_SET_BOOTLOADER_MODE

        public static final byte FUNCTION_SET_BOOTLOADER_MODE
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      • FUNCTION_GET_BOOTLOADER_MODE

        public static final byte FUNCTION_GET_BOOTLOADER_MODE
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      • FUNCTION_SET_WRITE_FIRMWARE_POINTER

        public static final byte FUNCTION_SET_WRITE_FIRMWARE_POINTER
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      • FUNCTION_WRITE_FIRMWARE

        public static final byte FUNCTION_WRITE_FIRMWARE
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      • FUNCTION_SET_STATUS_LED_CONFIG

        public static final byte FUNCTION_SET_STATUS_LED_CONFIG
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      • FUNCTION_GET_STATUS_LED_CONFIG

        public static final byte FUNCTION_GET_STATUS_LED_CONFIG
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      • FUNCTION_GET_CHIP_TEMPERATURE

        public static final byte FUNCTION_GET_CHIP_TEMPERATURE
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      • THRESHOLD_OPTION_OUTSIDE

        public static final char THRESHOLD_OPTION_OUTSIDE
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      • THRESHOLD_OPTION_INSIDE

        public static final char THRESHOLD_OPTION_INSIDE
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      • THRESHOLD_OPTION_SMALLER

        public static final char THRESHOLD_OPTION_SMALLER
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      • THRESHOLD_OPTION_GREATER

        public static final char THRESHOLD_OPTION_GREATER
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      • DISTANCE_LED_CONFIG_OFF

        public static final int DISTANCE_LED_CONFIG_OFF
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      • DISTANCE_LED_CONFIG_SHOW_HEARTBEAT

        public static final int DISTANCE_LED_CONFIG_SHOW_HEARTBEAT
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      • DISTANCE_LED_CONFIG_SHOW_DISTANCE

        public static final int DISTANCE_LED_CONFIG_SHOW_DISTANCE
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      • BOOTLOADER_MODE_BOOTLOADER

        public static final int BOOTLOADER_MODE_BOOTLOADER
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      • BOOTLOADER_MODE_FIRMWARE

        public static final int BOOTLOADER_MODE_FIRMWARE
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      • BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT

        public static final int BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT
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      • BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT

        public static final int BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT
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      • BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT

        public static final int BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT
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      • BOOTLOADER_STATUS_INVALID_MODE

        public static final int BOOTLOADER_STATUS_INVALID_MODE
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      • BOOTLOADER_STATUS_NO_CHANGE

        public static final int BOOTLOADER_STATUS_NO_CHANGE
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      • BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT

        public static final int BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT
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      • BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT

        public static final int BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT
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      • BOOTLOADER_STATUS_CRC_MISMATCH

        public static final int BOOTLOADER_STATUS_CRC_MISMATCH
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      • STATUS_LED_CONFIG_SHOW_HEARTBEAT

        public static final int STATUS_LED_CONFIG_SHOW_HEARTBEAT
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      • STATUS_LED_CONFIG_SHOW_STATUS

        public static final int STATUS_LED_CONFIG_SHOW_STATUS
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    • Constructor Detail

      • BrickletLaserRangeFinderV2

        public BrickletLaserRangeFinderV2​(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.
    • Method Detail

      • setDistanceCallbackConfiguration

        public void setDistanceCallbackConfiguration​(long period,
                                                     boolean valueHasToChange,
                                                     char option,
                                                     int min,
                                                     int max)
                                              throws TinkerforgeException
        The period is the period with which the BrickletLaserRangeFinderV2.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 the BrickletLaserRangeFinderV2.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
      • setVelocityCallbackConfiguration

        public void setVelocityCallbackConfiguration​(long period,
                                                     boolean valueHasToChange,
                                                     char option,
                                                     int min,
                                                     int max)
                                              throws TinkerforgeException
        The period is the period with which the BrickletLaserRangeFinderV2.VelocityListener 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 the BrickletLaserRangeFinderV2.VelocityListener 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
      • setEnable

        public void setEnable​(boolean enable)
                       throws TinkerforgeException
        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.
        Throws:
        TinkerforgeException
      • setConfiguration

        public void setConfiguration​(int acquisitionCount,
                                     boolean enableQuickTermination,
                                     int thresholdValue,
                                     int measurementFrequency)
                              throws TinkerforgeException
        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.
        Throws:
        TinkerforgeException
      • setMovingAverage

        public void setMovingAverage​(int distanceAverageLength,
                                     int velocityAverageLength)
                              throws TinkerforgeException
        Sets the length of a `moving averaging <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.
        Throws:
        TinkerforgeException
      • setOffsetCalibration

        public void setOffsetCalibration​(int offset)
                                  throws TinkerforgeException
        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.
        Throws:
        TinkerforgeException
      • 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
      • getSPITFPErrorCount

        public BrickletLaserRangeFinderV2.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
      • 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
      • setWriteFirmwarePointer

        public void setWriteFirmwarePointer​(long pointer)
                                     throws TinkerforgeException
        Sets the firmware pointer for writeFirmware(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
      • writeFirmware

        public int writeFirmware​(int[] data)
                          throws TinkerforgeException
        Writes 64 Bytes of firmware at the position as written by setWriteFirmwarePointer(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
      • 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
      • 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
      • 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
      • 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
      • 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 class Device
        Throws:
        TinkerforgeException