Package com.tinkerforge
Class BrickletLaserRangeFinderV2
- java.lang.Object
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- com.tinkerforge.DeviceBase
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- com.tinkerforge.Device
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- com.tinkerforge.BrickletLaserRangeFinderV2
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public class BrickletLaserRangeFinderV2 extends Device
Measures distance up to 40m with laser light
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Nested Class Summary
Nested Classes Modifier and Type Class Description class
BrickletLaserRangeFinderV2.Configuration
class
BrickletLaserRangeFinderV2.DistanceCallbackConfiguration
static interface
BrickletLaserRangeFinderV2.DistanceListener
This listener is triggered periodically according to the configuration set bysetDistanceCallbackConfiguration(long, boolean, char, int, int)
.class
BrickletLaserRangeFinderV2.MovingAverage
class
BrickletLaserRangeFinderV2.SPITFPErrorCount
class
BrickletLaserRangeFinderV2.VelocityCallbackConfiguration
static interface
BrickletLaserRangeFinderV2.VelocityListener
This listener is triggered periodically according to the configuration set bysetVelocityCallbackConfiguration(long, boolean, char, int, int)
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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 BrickletLaserRangeFinderV2(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
addDistanceListener(BrickletLaserRangeFinderV2.DistanceListener listener)
Adds a Distance listener.void
addVelocityListener(BrickletLaserRangeFinderV2.VelocityListener listener)
Adds a Velocity listener.int
getBootloaderMode()
Returns the current bootloader mode, seesetBootloaderMode(int)
.int
getChipTemperature()
Returns the temperature as measured inside the microcontroller.BrickletLaserRangeFinderV2.Configuration
getConfiguration()
Returns the configuration as set bysetConfiguration(int, boolean, int, int)
.int
getDistance()
Returns the measured distance.BrickletLaserRangeFinderV2.DistanceCallbackConfiguration
getDistanceCallbackConfiguration()
Returns the listener configuration as set bysetDistanceCallbackConfiguration(long, boolean, char, int, int)
.int
getDistanceLEDConfig()
Returns the LED configuration as set bysetDistanceLEDConfig(int)
boolean
getEnable()
Returns the value as set bysetEnable(boolean)
.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.BrickletLaserRangeFinderV2.MovingAverage
getMovingAverage()
Returns the length moving average as set bysetMovingAverage(int, int)
.int
getOffsetCalibration()
Returns the offset value as set bysetOffsetCalibration(int)
.BrickletLaserRangeFinderV2.SPITFPErrorCount
getSPITFPErrorCount()
Returns the error count for the communication between Brick and Bricklet.int
getStatusLEDConfig()
Returns the configuration as set bysetStatusLEDConfig(int)
int
getVelocity()
Returns the measured velocity.BrickletLaserRangeFinderV2.VelocityCallbackConfiguration
getVelocityCallbackConfiguration()
Returns the listener configuration as set bysetVelocityCallbackConfiguration(long, boolean, char, int, int)
.long
readUID()
Returns the current UID as an integer.void
removeDistanceListener(BrickletLaserRangeFinderV2.DistanceListener listener)
Removes a Distance listener.void
removeVelocityListener(BrickletLaserRangeFinderV2.VelocityListener listener)
Removes a Velocity listener.void
reset()
Calling this function will reset the Bricklet.int
setBootloaderMode(int mode)
Sets the bootloader mode and returns the status after the requested mode change was instigated.void
setConfiguration(int acquisitionCount, boolean enableQuickTermination, int thresholdValue, int measurementFrequency)
The **Acquisition Count** defines the number of times the Laser Range Finder Bricklet will integrate acquisitions to find a correlation record peak.void
setDistanceCallbackConfiguration(long period, boolean valueHasToChange, char option, int min, int max)
The period is the period with which theBrickletLaserRangeFinderV2.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
setEnable(boolean enable)
Enables the laser of the LIDAR if set to *true*.void
setMovingAverage(int distanceAverageLength, int velocityAverageLength)
Sets the length of a `moving averaging <https://en.wikipedia.org/wiki/Moving_average>`__ for the distance and velocity.void
setOffsetCalibration(int offset)
The offset is added to the measured distance.void
setStatusLEDConfig(int config)
Sets the status LED configuration.void
setVelocityCallbackConfiguration(long period, boolean valueHasToChange, char option, int min, int max)
The period is the period with which theBrickletLaserRangeFinderV2.VelocityListener
listener is triggered periodically.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_VELOCITY
public static final byte FUNCTION_GET_VELOCITY
- See Also:
- Constant Field Values
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FUNCTION_SET_VELOCITY_CALLBACK_CONFIGURATION
public static final byte FUNCTION_SET_VELOCITY_CALLBACK_CONFIGURATION
- See Also:
- Constant Field Values
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FUNCTION_GET_VELOCITY_CALLBACK_CONFIGURATION
public static final byte FUNCTION_GET_VELOCITY_CALLBACK_CONFIGURATION
- See Also:
- Constant Field Values
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FUNCTION_SET_ENABLE
public static final byte FUNCTION_SET_ENABLE
- See Also:
- Constant Field Values
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FUNCTION_GET_ENABLE
public static final byte FUNCTION_GET_ENABLE
- See Also:
- Constant Field Values
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FUNCTION_SET_CONFIGURATION
public static final byte FUNCTION_SET_CONFIGURATION
- See Also:
- Constant Field Values
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FUNCTION_GET_CONFIGURATION
public static final byte FUNCTION_GET_CONFIGURATION
- See Also:
- Constant Field Values
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FUNCTION_SET_MOVING_AVERAGE
public static final byte FUNCTION_SET_MOVING_AVERAGE
- See Also:
- Constant Field Values
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FUNCTION_GET_MOVING_AVERAGE
public static final byte FUNCTION_GET_MOVING_AVERAGE
- See Also:
- Constant Field Values
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FUNCTION_SET_OFFSET_CALIBRATION
public static final byte FUNCTION_SET_OFFSET_CALIBRATION
- See Also:
- Constant Field Values
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FUNCTION_GET_OFFSET_CALIBRATION
public static final byte FUNCTION_GET_OFFSET_CALIBRATION
- 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_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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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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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.
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Method Detail
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getDistance
public int getDistance() throws TinkerforgeException
Returns the measured distance. The laser has to be enabled, seesetEnable(boolean)
. If you want to get the value periodically, it is recommended to use theBrickletLaserRangeFinderV2.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 theBrickletLaserRangeFinderV2.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 theBrickletLaserRangeFinderV2.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 BrickletLaserRangeFinderV2.DistanceCallbackConfiguration getDistanceCallbackConfiguration() throws TinkerforgeException
Returns the listener configuration as set bysetDistanceCallbackConfiguration(long, boolean, char, int, int)
.- Throws:
TinkerforgeException
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getVelocity
public int getVelocity() throws TinkerforgeException
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 (seesetConfiguration(int, boolean, int, int)
) is configured. Also the laser has to be enabled, seesetEnable(boolean)
. If you want to get the value periodically, it is recommended to use theBrickletLaserRangeFinderV2.VelocityListener
listener. You can set the listener configuration withsetVelocityCallbackConfiguration(long, boolean, char, int, int)
.- Throws:
TinkerforgeException
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setVelocityCallbackConfiguration
public void setVelocityCallbackConfiguration(long period, boolean valueHasToChange, char option, int min, int max) throws TinkerforgeException
The period is the period with which theBrickletLaserRangeFinderV2.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 theBrickletLaserRangeFinderV2.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
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getVelocityCallbackConfiguration
public BrickletLaserRangeFinderV2.VelocityCallbackConfiguration getVelocityCallbackConfiguration() throws TinkerforgeException
Returns the listener configuration as set bysetVelocityCallbackConfiguration(long, boolean, char, int, int)
.- Throws:
TinkerforgeException
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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 ofgetDistance()
to ensure stable measurements.- Throws:
TinkerforgeException
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getEnable
public boolean getEnable() throws TinkerforgeException
Returns the value as set bysetEnable(boolean)
.- Throws:
TinkerforgeException
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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
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getConfiguration
public BrickletLaserRangeFinderV2.Configuration getConfiguration() throws TinkerforgeException
Returns the configuration as set bysetConfiguration(int, boolean, int, int)
.- Throws:
TinkerforgeException
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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
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getMovingAverage
public BrickletLaserRangeFinderV2.MovingAverage getMovingAverage() throws TinkerforgeException
Returns the length moving average as set bysetMovingAverage(int, int)
.- Throws:
TinkerforgeException
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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
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getOffsetCalibration
public int getOffsetCalibration() throws TinkerforgeException
Returns the offset value as set bysetOffsetCalibration(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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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
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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(BrickletLaserRangeFinderV2.DistanceListener listener)
Adds a Distance listener.
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removeDistanceListener
public void removeDistanceListener(BrickletLaserRangeFinderV2.DistanceListener listener)
Removes a Distance listener.
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addVelocityListener
public void addVelocityListener(BrickletLaserRangeFinderV2.VelocityListener listener)
Adds a Velocity listener.
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removeVelocityListener
public void removeVelocityListener(BrickletLaserRangeFinderV2.VelocityListener listener)
Removes a Velocity listener.
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