laser_range_finder_bricklet

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

Documentation

Overview

Measures distance up to 40m with laser light.

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

Index

Constants

View Source
const DeviceDisplayName = "Laser Range Finder Bricklet"
View Source
const DeviceIdentifier = 255

Variables

This section is empty.

Functions

This section is empty.

Types

type Function

type Function = uint8
const (
	FunctionGetDistance                  Function = 1
	FunctionGetVelocity                  Function = 2
	FunctionSetDistanceCallbackPeriod    Function = 3
	FunctionGetDistanceCallbackPeriod    Function = 4
	FunctionSetVelocityCallbackPeriod    Function = 5
	FunctionGetVelocityCallbackPeriod    Function = 6
	FunctionSetDistanceCallbackThreshold Function = 7
	FunctionGetDistanceCallbackThreshold Function = 8
	FunctionSetVelocityCallbackThreshold Function = 9
	FunctionGetVelocityCallbackThreshold Function = 10
	FunctionSetDebouncePeriod            Function = 11
	FunctionGetDebouncePeriod            Function = 12
	FunctionSetMovingAverage             Function = 13
	FunctionGetMovingAverage             Function = 14
	FunctionSetMode                      Function = 15
	FunctionGetMode                      Function = 16
	FunctionEnableLaser                  Function = 17
	FunctionDisableLaser                 Function = 18
	FunctionIsLaserEnabled               Function = 19
	FunctionGetSensorHardwareVersion     Function = 24
	FunctionSetConfiguration             Function = 25
	FunctionGetConfiguration             Function = 26
	FunctionGetIdentity                  Function = 255
	FunctionCallbackDistance             Function = 20
	FunctionCallbackVelocity             Function = 21
	FunctionCallbackDistanceReached      Function = 22
	FunctionCallbackVelocityReached      Function = 23
)

type LaserRangeFinderBricklet

type LaserRangeFinderBricklet 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 (*LaserRangeFinderBricklet) DeregisterDistanceCallback

func (device *LaserRangeFinderBricklet) DeregisterDistanceCallback(registrationId uint64)

Remove a registered Distance callback.

func (*LaserRangeFinderBricklet) DeregisterDistanceReachedCallback

func (device *LaserRangeFinderBricklet) DeregisterDistanceReachedCallback(registrationId uint64)

Remove a registered Distance Reached callback.

func (*LaserRangeFinderBricklet) DeregisterVelocityCallback

func (device *LaserRangeFinderBricklet) DeregisterVelocityCallback(registrationId uint64)

Remove a registered Velocity callback.

func (*LaserRangeFinderBricklet) DeregisterVelocityReachedCallback

func (device *LaserRangeFinderBricklet) DeregisterVelocityReachedCallback(registrationId uint64)

Remove a registered Velocity Reached callback.

func (*LaserRangeFinderBricklet) DisableLaser

func (device *LaserRangeFinderBricklet) DisableLaser() (err error)

Deactivates the laser of the LIDAR.

func (*LaserRangeFinderBricklet) EnableLaser

func (device *LaserRangeFinderBricklet) EnableLaser() (err error)

Activates the laser of the LIDAR.

We recommend that you wait 250ms after enabling the laser before the first call of GetDistance to ensure stable measurements.

func (*LaserRangeFinderBricklet) GetAPIVersion

func (device *LaserRangeFinderBricklet) 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 (*LaserRangeFinderBricklet) GetConfiguration

func (device *LaserRangeFinderBricklet) GetConfiguration() (acquisitionCount uint8, enableQuickTermination bool, thresholdValue uint8, measurementFrequency uint16, err error)

Returns the configuration as set by SetConfiguration.

.. versionadded:: 2.0.3$nbsp;(Plugin)

func (*LaserRangeFinderBricklet) GetDebouncePeriod

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

Returns the debounce period as set by SetDebouncePeriod.

func (*LaserRangeFinderBricklet) GetDistance

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

Returns the measured distance.

Sensor hardware version 1 (see GetSensorHardwareVersion) cannot measure distance and velocity at the same time. Therefore, the distance mode has to be enabled using SetMode. Sensor hardware version 3 can measure distance and velocity at the same time. Also the laser has to be enabled, see EnableLaser.

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

func (*LaserRangeFinderBricklet) GetDistanceCallbackPeriod

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

Returns the period as set by SetDistanceCallbackPeriod.

func (*LaserRangeFinderBricklet) GetDistanceCallbackThreshold

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

Returns the threshold as set by SetDistanceCallbackThreshold.

Associated constants:

  • ThresholdOptionOff
  • ThresholdOptionOutside
  • ThresholdOptionInside
  • ThresholdOptionSmaller
  • ThresholdOptionGreater

func (*LaserRangeFinderBricklet) GetIdentity

func (device *LaserRangeFinderBricklet) 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 (*LaserRangeFinderBricklet) GetMode

func (device *LaserRangeFinderBricklet) GetMode() (mode Mode, err error)

Returns the mode as set by SetMode.

Associated constants:

  • ModeDistance
  • ModeVelocityMax13ms
  • ModeVelocityMax32ms
  • ModeVelocityMax64ms
  • ModeVelocityMax127ms

func (*LaserRangeFinderBricklet) GetMovingAverage

func (device *LaserRangeFinderBricklet) GetMovingAverage() (distanceAverageLength uint8, velocityAverageLength uint8, err error)

Returns the length moving average as set by SetMovingAverage.

func (*LaserRangeFinderBricklet) GetResponseExpected

func (device *LaserRangeFinderBricklet) 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 (*LaserRangeFinderBricklet) GetSensorHardwareVersion

func (device *LaserRangeFinderBricklet) GetSensorHardwareVersion() (version Version, err error)

Returns the LIDAR-Lite hardware version.

.. versionadded:: 2.0.3$nbsp;(Plugin)

Associated constants:

  • Version1
  • Version3

func (*LaserRangeFinderBricklet) GetVelocity

func (device *LaserRangeFinderBricklet) GetVelocity() (velocity int16, err error)

Returns the measured velocity.

Sensor hardware version 1 (see GetSensorHardwareVersion) cannot measure distance and velocity at the same time. Therefore, the velocity mode has to be enabled using SetMode. Sensor hardware version 3 can measure distance and velocity at the same time, but the velocity measurement only produces stables results if a fixed measurement rate (see SetConfiguration) is configured. Also the laser has to be enabled, see EnableLaser.

If you want to get the velocity periodically, it is recommended to use the RegisterVelocityCallback callback and set the period with SetVelocityCallbackPeriod.

func (*LaserRangeFinderBricklet) GetVelocityCallbackPeriod

func (device *LaserRangeFinderBricklet) GetVelocityCallbackPeriod() (period uint32, err error)

Returns the period as set by SetVelocityCallbackPeriod.

func (*LaserRangeFinderBricklet) GetVelocityCallbackThreshold

func (device *LaserRangeFinderBricklet) GetVelocityCallbackThreshold() (option ThresholdOption, min int16, max int16, err error)

Returns the threshold as set by SetVelocityCallbackThreshold.

Associated constants:

  • ThresholdOptionOff
  • ThresholdOptionOutside
  • ThresholdOptionInside
  • ThresholdOptionSmaller
  • ThresholdOptionGreater

func (*LaserRangeFinderBricklet) IsLaserEnabled

func (device *LaserRangeFinderBricklet) IsLaserEnabled() (laserEnabled bool, err error)

Returns *true* if the laser is enabled, *false* otherwise.

func (*LaserRangeFinderBricklet) RegisterDistanceCallback

func (device *LaserRangeFinderBricklet) 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 (*LaserRangeFinderBricklet) RegisterDistanceReachedCallback

func (device *LaserRangeFinderBricklet) 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 (*LaserRangeFinderBricklet) RegisterVelocityCallback

func (device *LaserRangeFinderBricklet) RegisterVelocityCallback(fn func(int16)) uint64

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

The RegisterVelocityCallback callback is only triggered if the velocity has changed since the last triggering.

func (*LaserRangeFinderBricklet) RegisterVelocityReachedCallback

func (device *LaserRangeFinderBricklet) RegisterVelocityReachedCallback(fn func(int16)) uint64

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

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

func (*LaserRangeFinderBricklet) SetConfiguration

func (device *LaserRangeFinderBricklet) SetConfiguration(acquisitionCount uint8, enableQuickTermination bool, thresholdValue uint8, measurementFrequency uint16) (err error)

Note

This function is only available if you have a LIDAR-Lite sensor with hardware
version 3. Use SetMode for hardware version 1. You can check
the sensor hardware version using GetSensorHardwareVersion.

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).

.. versionadded:: 2.0.3$nbsp;(Plugin)

func (*LaserRangeFinderBricklet) SetDebouncePeriod

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

Sets the period with which the threshold callbacks

* RegisterDistanceReachedCallback, * RegisterVelocityReachedCallback,

are triggered, if the thresholds

* SetDistanceCallbackThreshold, * SetVelocityCallbackThreshold,

keep being reached.

func (*LaserRangeFinderBricklet) SetDistanceCallbackPeriod

func (device *LaserRangeFinderBricklet) 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 value has changed since the last triggering.

func (*LaserRangeFinderBricklet) SetDistanceCallbackThreshold

func (device *LaserRangeFinderBricklet) 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 (*LaserRangeFinderBricklet) SetMode

func (device *LaserRangeFinderBricklet) SetMode(mode Mode) (err error)

Note

This function is only available if you have a LIDAR-Lite sensor with hardware
version 1. Use SetConfiguration for hardware version 3. You can check
the sensor hardware version using GetSensorHardwareVersion.

The LIDAR-Lite sensor (hardware version 1) has five different modes. One mode is for distance measurements and four modes are for velocity measurements with different ranges.

The following modes are available:

* 0: Distance is measured with resolution 1.0 cm and range 0-4000 cm * 1: Velocity is measured with resolution 0.1 m/s and range is 0-12.7 m/s * 2: Velocity is measured with resolution 0.25 m/s and range is 0-31.75 m/s * 3: Velocity is measured with resolution 0.5 m/s and range is 0-63.5 m/s * 4: Velocity is measured with resolution 1.0 m/s and range is 0-127 m/s

Associated constants:

  • ModeDistance
  • ModeVelocityMax13ms
  • ModeVelocityMax32ms
  • ModeVelocityMax64ms
  • ModeVelocityMax127ms

func (*LaserRangeFinderBricklet) SetMovingAverage

func (device *LaserRangeFinderBricklet) SetMovingAverage(distanceAverageLength uint8, velocityAverageLength uint8) (err error)

Sets the length of a 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.

func (*LaserRangeFinderBricklet) SetResponseExpected

func (device *LaserRangeFinderBricklet) 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 (*LaserRangeFinderBricklet) SetResponseExpectedAll

func (device *LaserRangeFinderBricklet) SetResponseExpectedAll(responseExpected bool)

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

func (*LaserRangeFinderBricklet) SetVelocityCallbackPeriod

func (device *LaserRangeFinderBricklet) SetVelocityCallbackPeriod(period uint32) (err error)

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

The RegisterVelocityCallback callback is only triggered if the velocity value has changed since the last triggering.

func (*LaserRangeFinderBricklet) SetVelocityCallbackThreshold

func (device *LaserRangeFinderBricklet) SetVelocityCallbackThreshold(option ThresholdOption, min int16, max int16) (err error)

Sets the thresholds for the RegisterVelocityReachedCallback callback.

The following options are possible:

Option| Description
--- | ---
'x'|    Callback is turned off
'o'|    Callback is triggered when the velocity is *outside* the min and max values
'i'|    Callback is triggered when the velocity is *inside* the min and max values
'<'|    Callback is triggered when the velocity is smaller than the min value (max is ignored)
'>'|    Callback is triggered when the velocity is greater than the min value (max is ignored)

Associated constants:

  • ThresholdOptionOff
  • ThresholdOptionOutside
  • ThresholdOptionInside
  • ThresholdOptionSmaller
  • ThresholdOptionGreater

type Mode

type Mode = uint8
const (
	ModeDistance         Mode = 0
	ModeVelocityMax13ms  Mode = 1
	ModeVelocityMax32ms  Mode = 2
	ModeVelocityMax64ms  Mode = 3
	ModeVelocityMax127ms Mode = 4
)

type ThresholdOption

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

type Version

type Version = uint8
const (
	Version1 Version = 1
	Version3 Version = 3
)

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