distance_us_bricklet

package
Version: v0.0.0-...-1640943 Latest Latest
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Published: May 7, 2021 License: CC0-1.0 Imports: 5 Imported by: 0

Documentation

Overview

Measures distance between 2cm and 400cm with ultrasound.

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

Index

Constants

View Source
const DeviceDisplayName = "Distance US Bricklet"
View Source
const DeviceIdentifier = 229

Variables

This section is empty.

Functions

This section is empty.

Types

type DistanceUSBricklet

type DistanceUSBricklet 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 (*DistanceUSBricklet) DeregisterDistanceCallback

func (device *DistanceUSBricklet) DeregisterDistanceCallback(registrationId uint64)

Remove a registered Distance callback.

func (*DistanceUSBricklet) DeregisterDistanceReachedCallback

func (device *DistanceUSBricklet) DeregisterDistanceReachedCallback(registrationId uint64)

Remove a registered Distance Reached callback.

func (*DistanceUSBricklet) GetAPIVersion

func (device *DistanceUSBricklet) 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 (*DistanceUSBricklet) GetDebouncePeriod

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

Returns the debounce period as set by SetDebouncePeriod.

func (*DistanceUSBricklet) GetDistanceCallbackPeriod

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

Returns the period as set by SetDistanceCallbackPeriod.

func (*DistanceUSBricklet) GetDistanceCallbackThreshold

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

Returns the threshold as set by SetDistanceCallbackThreshold.

Associated constants:

* ThresholdOptionOff
* ThresholdOptionOutside
* ThresholdOptionInside
* ThresholdOptionSmaller
* ThresholdOptionGreater

func (*DistanceUSBricklet) GetDistanceValue

func (device *DistanceUSBricklet) GetDistanceValue() (distance uint16, err error)

Returns the current distance value measured by the sensor. A small value corresponds to a small distance, a big value corresponds to a big distance. The relation between the measured distance value and the actual distance is affected by the 5V supply voltage (deviations in the supply voltage result in deviations in the distance values) and is non-linear (resolution is bigger at close range).

If you want to get the distance value periodically, it is recommended to use the RegisterDistanceCallback callback and set the period with SetDistanceCallbackPeriod.

func (*DistanceUSBricklet) GetIdentity

func (device *DistanceUSBricklet) 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 (*DistanceUSBricklet) GetMovingAverage

func (device *DistanceUSBricklet) GetMovingAverage() (average uint8, err error)

Returns the length moving average as set by SetMovingAverage.

func (*DistanceUSBricklet) GetResponseExpected

func (device *DistanceUSBricklet) 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 (*DistanceUSBricklet) RegisterDistanceCallback

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

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

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

func (*DistanceUSBricklet) RegisterDistanceReachedCallback

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

This callback is triggered when the threshold as set by SetDistanceCallbackThreshold is reached. The parameter is the distance value of the sensor.

If the threshold keeps being reached, the callback is triggered periodically with the period as set by SetDebouncePeriod.

func (*DistanceUSBricklet) SetDebouncePeriod

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

Sets the period with which the threshold callbacks

* RegisterDistanceReachedCallback,

are triggered, if the thresholds

* SetDistanceCallbackThreshold,

keep being reached.

func (*DistanceUSBricklet) SetDistanceCallbackPeriod

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

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

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

func (*DistanceUSBricklet) SetDistanceCallbackThreshold

func (device *DistanceUSBricklet) 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 value is *outside* the min and max values
'i'|    Callback is triggered when the distance value is *inside* the min and max values
'<'|    Callback is triggered when the distance value is smaller than the min value (max is ignored)
'>'|    Callback is triggered when the distance value is greater than the min value (max is ignored)

Associated constants:

* ThresholdOptionOff
* ThresholdOptionOutside
* ThresholdOptionInside
* ThresholdOptionSmaller
* ThresholdOptionGreater

func (*DistanceUSBricklet) SetMovingAverage

func (device *DistanceUSBricklet) SetMovingAverage(average uint8) (err error)

Sets the length of a https://en.wikipedia.org/wiki/Moving_average for the distance value.

Setting the length to 0 will turn the averaging completely off. With less averaging, there is more noise on the data.

func (*DistanceUSBricklet) SetResponseExpected

func (device *DistanceUSBricklet) 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 (*DistanceUSBricklet) SetResponseExpectedAll

func (device *DistanceUSBricklet) SetResponseExpectedAll(responseExpected bool)

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

type Function

type Function = uint8
const (
	FunctionGetDistanceValue             Function = 1
	FunctionSetDistanceCallbackPeriod    Function = 2
	FunctionGetDistanceCallbackPeriod    Function = 3
	FunctionSetDistanceCallbackThreshold Function = 4
	FunctionGetDistanceCallbackThreshold Function = 5
	FunctionSetDebouncePeriod            Function = 6
	FunctionGetDebouncePeriod            Function = 7
	FunctionSetMovingAverage             Function = 10
	FunctionGetMovingAverage             Function = 11
	FunctionGetIdentity                  Function = 255
	FunctionCallbackDistance             Function = 8
	FunctionCallbackDistanceReached      Function = 9
)

type ThresholdOption

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

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