distance_ir_bricklet

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Published: Aug 8, 2022 License: CC0-1.0 Imports: 5 Imported by: 0

Documentation

Overview

Measures distance up to 150cm with infrared light.

See also the documentation here: https://www.tinkerforge.com/en/doc/Software/Bricklets/DistanceIR_Bricklet_Go.html.

Index

Constants

View Source
const DeviceDisplayName = "Distance IR Bricklet"
View Source
const DeviceIdentifier = 25

Variables

This section is empty.

Functions

This section is empty.

Types

type DistanceIRBricklet

type DistanceIRBricklet struct {
	// contains filtered or unexported fields
}

func New

Creates an object with the unique device ID `uid`. This object can then be used after the IP Connection `ipcon` is connected.

func (*DistanceIRBricklet) DeregisterAnalogValueCallback

func (device *DistanceIRBricklet) DeregisterAnalogValueCallback(registrationId uint64)

Remove a registered Analog Value callback.

func (*DistanceIRBricklet) DeregisterAnalogValueReachedCallback

func (device *DistanceIRBricklet) DeregisterAnalogValueReachedCallback(registrationId uint64)

Remove a registered Analog Value Reached callback.

func (*DistanceIRBricklet) DeregisterDistanceCallback

func (device *DistanceIRBricklet) DeregisterDistanceCallback(registrationId uint64)

Remove a registered Distance callback.

func (*DistanceIRBricklet) DeregisterDistanceReachedCallback

func (device *DistanceIRBricklet) DeregisterDistanceReachedCallback(registrationId uint64)

Remove a registered Distance Reached callback.

func (*DistanceIRBricklet) GetAPIVersion

func (device *DistanceIRBricklet) GetAPIVersion() [3]uint8

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.

func (*DistanceIRBricklet) GetAnalogValue

func (device *DistanceIRBricklet) GetAnalogValue() (value uint16, err error)

Returns the value as read by a 12-bit analog-to-digital converter.

Note

The value returned by GetDistance is averaged over several samples
to yield less noise, while GetAnalogValue gives back raw
unfiltered analog values. The only reason to use 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 RegisterAnalogValueCallback callback and set the period with SetAnalogValueCallbackPeriod.

func (*DistanceIRBricklet) GetAnalogValueCallbackPeriod

func (device *DistanceIRBricklet) GetAnalogValueCallbackPeriod() (period uint32, err error)

Returns the period as set by SetAnalogValueCallbackPeriod.

func (*DistanceIRBricklet) GetAnalogValueCallbackThreshold

func (device *DistanceIRBricklet) GetAnalogValueCallbackThreshold() (option ThresholdOption, min uint16, max uint16, err error)

Returns the threshold as set by SetAnalogValueCallbackThreshold.

Associated constants:

  • ThresholdOptionOff
  • ThresholdOptionOutside
  • ThresholdOptionInside
  • ThresholdOptionSmaller
  • ThresholdOptionGreater

func (*DistanceIRBricklet) GetDebouncePeriod

func (device *DistanceIRBricklet) GetDebouncePeriod() (debounce uint32, err error)

Returns the debounce period as set by SetDebouncePeriod.

func (*DistanceIRBricklet) GetDistance

func (device *DistanceIRBricklet) GetDistance() (distance uint16, err error)

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 distance periodically, it is recommended to use the RegisterDistanceCallback callback and set the period with SetDistanceCallbackPeriod.

func (*DistanceIRBricklet) GetDistanceCallbackPeriod

func (device *DistanceIRBricklet) GetDistanceCallbackPeriod() (period uint32, err error)

Returns the period as set by SetDistanceCallbackPeriod.

func (*DistanceIRBricklet) GetDistanceCallbackThreshold

func (device *DistanceIRBricklet) GetDistanceCallbackThreshold() (option ThresholdOption, min uint16, max uint16, err error)

Returns the threshold as set by SetDistanceCallbackThreshold.

Associated constants:

  • ThresholdOptionOff
  • ThresholdOptionOutside
  • ThresholdOptionInside
  • ThresholdOptionSmaller
  • ThresholdOptionGreater

func (*DistanceIRBricklet) GetIdentity

func (device *DistanceIRBricklet) GetIdentity() (uid string, connectedUid string, position rune, hardwareVersion [3]uint8, firmwareVersion [3]uint8, deviceIdentifier uint16, err error)

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 `Isolator Bricklet <isolator_bricklet>` is always at position 'z'.

The device identifier numbers can be found `here <device_identifier>`. |device_identifier_constant|

func (*DistanceIRBricklet) GetResponseExpected

func (device *DistanceIRBricklet) GetResponseExpected(functionID Function) (bool, error)

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 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 sent and errors are silently ignored, because they cannot be detected.

See SetResponseExpected for the list of function ID constants available for this function.

func (*DistanceIRBricklet) GetSamplingPoint

func (device *DistanceIRBricklet) GetSamplingPoint(position uint8) (distance uint16, err error)

Returns the distance to a sampling point position as set by SetSamplingPoint.

func (*DistanceIRBricklet) RegisterAnalogValueCallback

func (device *DistanceIRBricklet) RegisterAnalogValueCallback(fn func(uint16)) uint64

This callback is triggered periodically with the period that is set by SetAnalogValueCallbackPeriod. The parameter is the analog value of the sensor.

The RegisterAnalogValueCallback callback is only triggered if the analog value has changed since the last triggering.

func (*DistanceIRBricklet) RegisterAnalogValueReachedCallback

func (device *DistanceIRBricklet) RegisterAnalogValueReachedCallback(fn func(uint16)) uint64

This callback is triggered when the threshold as set by 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 SetDebouncePeriod.

func (*DistanceIRBricklet) RegisterDistanceCallback

func (device *DistanceIRBricklet) RegisterDistanceCallback(fn func(uint16)) uint64

This callback is triggered periodically with the period that is set by SetDistanceCallbackPeriod. The parameter is the distance of the sensor.

The RegisterDistanceCallback callback is only triggered if the distance has changed since the last triggering.

func (*DistanceIRBricklet) RegisterDistanceReachedCallback

func (device *DistanceIRBricklet) RegisterDistanceReachedCallback(fn func(uint16)) uint64

This callback is triggered when the threshold as set by 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 SetDebouncePeriod.

func (*DistanceIRBricklet) SetAnalogValueCallbackPeriod

func (device *DistanceIRBricklet) SetAnalogValueCallbackPeriod(period uint32) (err error)

Sets the period with which the RegisterAnalogValueCallback callback is triggered periodically. A value of 0 turns the callback off.

The RegisterAnalogValueCallback callback is only triggered if the analog value has changed since the last triggering.

func (*DistanceIRBricklet) SetAnalogValueCallbackThreshold

func (device *DistanceIRBricklet) SetAnalogValueCallbackThreshold(option ThresholdOption, min uint16, max uint16) (err error)

Sets the thresholds for the RegisterAnalogValueReachedCallback callback.

The following options are possible:

Option| Description
--- | ---
'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)

Associated constants:

  • ThresholdOptionOff
  • ThresholdOptionOutside
  • ThresholdOptionInside
  • ThresholdOptionSmaller
  • ThresholdOptionGreater

func (*DistanceIRBricklet) SetDebouncePeriod

func (device *DistanceIRBricklet) SetDebouncePeriod(debounce uint32) (err error)

Sets the period with which the threshold callbacks

* RegisterDistanceReachedCallback, * RegisterAnalogValueReachedCallback

are triggered, if the thresholds

* SetDistanceCallbackThreshold, * SetAnalogValueCallbackThreshold

keep being reached.

func (*DistanceIRBricklet) SetDistanceCallbackPeriod

func (device *DistanceIRBricklet) SetDistanceCallbackPeriod(period uint32) (err error)

Sets the period with which the RegisterDistanceCallback callback is triggered periodically. A value of 0 turns the callback off.

The RegisterDistanceCallback callback is only triggered if the distance has changed since the last triggering.

func (*DistanceIRBricklet) SetDistanceCallbackThreshold

func (device *DistanceIRBricklet) SetDistanceCallbackThreshold(option ThresholdOption, min uint16, max uint16) (err error)

Sets the thresholds for the RegisterDistanceReachedCallback callback.

The following options are possible:

Option| Description
--- | ---
'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)

Associated constants:

  • ThresholdOptionOff
  • ThresholdOptionOutside
  • ThresholdOptionInside
  • ThresholdOptionSmaller
  • ThresholdOptionGreater

func (*DistanceIRBricklet) SetResponseExpected

func (device *DistanceIRBricklet) SetResponseExpected(functionID Function, responseExpected bool) error

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.

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 sent and errors are silently ignored, because they cannot be detected.

func (*DistanceIRBricklet) SetResponseExpectedAll

func (device *DistanceIRBricklet) SetResponseExpectedAll(responseExpected bool)

Changes the response expected flag for all setter and callback configuration functions of this device at once.

func (*DistanceIRBricklet) SetSamplingPoint

func (device *DistanceIRBricklet) SetSamplingPoint(position uint8, distance uint16) (err error)

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.

type Function

type Function = uint8
const (
	FunctionGetDistance                     Function = 1
	FunctionGetAnalogValue                  Function = 2
	FunctionSetSamplingPoint                Function = 3
	FunctionGetSamplingPoint                Function = 4
	FunctionSetDistanceCallbackPeriod       Function = 5
	FunctionGetDistanceCallbackPeriod       Function = 6
	FunctionSetAnalogValueCallbackPeriod    Function = 7
	FunctionGetAnalogValueCallbackPeriod    Function = 8
	FunctionSetDistanceCallbackThreshold    Function = 9
	FunctionGetDistanceCallbackThreshold    Function = 10
	FunctionSetAnalogValueCallbackThreshold Function = 11
	FunctionGetAnalogValueCallbackThreshold Function = 12
	FunctionSetDebouncePeriod               Function = 13
	FunctionGetDebouncePeriod               Function = 14
	FunctionGetIdentity                     Function = 255
	FunctionCallbackDistance                Function = 15
	FunctionCallbackAnalogValue             Function = 16
	FunctionCallbackDistanceReached         Function = 17
	FunctionCallbackAnalogValueReached      Function = 18
)

type ThresholdOption

type ThresholdOption = rune
const (
	ThresholdOptionOff     ThresholdOption = 'x'
	ThresholdOptionOutside ThresholdOption = 'o'
	ThresholdOptionInside  ThresholdOption = 'i'
	ThresholdOptionSmaller ThresholdOption = '<'
	ThresholdOptionGreater ThresholdOption = '>'
)

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