Struct tinkerforge::laser_range_finder_v2_bricklet::LaserRangeFinderV2Bricklet

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pub struct LaserRangeFinderV2Bricklet { /* private fields */ }

Expand description

Measures distance up to 40m with laser light

Implementations§

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pub fn new<T: GetRequestSender>( uid: &str, req_sender: T ) -> LaserRangeFinderV2Bricklet

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

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pub fn get_response_expected( &mut self, fun: LaserRangeFinderV2BrickletFunction ) -> Result<bool, GetResponseExpectedError>

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 set_response_expected. 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 set_response_expected for the list of function ID constants available for this function.

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pub fn set_response_expected( &mut self, fun: LaserRangeFinderV2BrickletFunction, response_expected: bool ) -> Result<(), SetResponseExpectedError>

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.

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pub fn set_response_expected_all(&mut self, response_expected: bool)

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

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pub fn get_api_version(&self) -> [u8; 3]

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.

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pub fn get_distance_callback_receiver(&self) -> ConvertingCallbackReceiver<i16>

This receiver is triggered periodically according to the configuration set by set_distance_callback_configuration.

The parameter is the same as get_distance.

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pub fn get_velocity_callback_receiver(&self) -> ConvertingCallbackReceiver<i16>

This receiver is triggered periodically according to the configuration set by [set_velocity_callback_configuration].

The parameter is the same as [get_velocity].

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pub fn get_distance(&self) -> ConvertingReceiver<i16>

Returns the measured distance.

The laser has to be enabled, see [set_enable].

If you want to get the value periodically, it is recommended to use the [get_distance_callback_receiver] receiver. You can set the receiver configuration with [set_distance_callback_configuration].

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pub fn set_distance_callback_configuration( &self, period: u32, value_has_to_change: bool, option: char, min: i16, max: i16 ) -> ConvertingReceiver<()>

The period is the period with which the [get_distance_callback_receiver] receiver is triggered periodically. A value of 0 turns the receiver off.

If the value has to change-parameter is set to true, the receiver is only triggered after the value has changed. If the value didn’t change within the period, the receiver is triggered immediately on change.

If it is set to false, the receiver is continuously triggered with the period, independent of the value.

It is furthermore possible to constrain the receiver with thresholds.

The option-parameter together with min/max sets a threshold for the [get_distance_callback_receiver] receiver.

The following options are possible:

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)

If the option is set to ‘x’ (threshold turned off) the receiver is triggered with the fixed period.

Associated constants:

LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_OFF
LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_OUTSIDE
LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_INSIDE
LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_SMALLER
LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_GREATER

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pub fn get_distance_callback_configuration( &self ) -> ConvertingReceiver<DistanceCallbackConfiguration>

Returns the receiver configuration as set by [set_distance_callback_configuration].

Associated constants:

LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_OFF
LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_OUTSIDE
LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_INSIDE
LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_SMALLER
LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_GREATER

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pub fn get_velocity(&self) -> ConvertingReceiver<i16>

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 (see [set_configuration]) is configured. Also the laser has to be enabled, see [set_enable].

If you want to get the value periodically, it is recommended to use the [get_velocity_callback_receiver] receiver. You can set the receiver configuration with [set_velocity_callback_configuration].

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pub fn set_velocity_callback_configuration( &self, period: u32, value_has_to_change: bool, option: char, min: i16, max: i16 ) -> ConvertingReceiver<()>

The period is the period with which the [get_velocity_callback_receiver] receiver is triggered periodically. A value of 0 turns the receiver off.

If the value has to change-parameter is set to true, the receiver is only triggered after the value has changed. If the value didn’t change within the period, the receiver is triggered immediately on change.

If it is set to false, the receiver is continuously triggered with the period, independent of the value.

It is furthermore possible to constrain the receiver with thresholds.

The option-parameter together with min/max sets a threshold for the [get_velocity_callback_receiver] receiver.

The following options are possible:

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)

If the option is set to ‘x’ (threshold turned off) the receiver is triggered with the fixed period.

Associated constants:

LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_OFF
LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_OUTSIDE
LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_INSIDE
LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_SMALLER
LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_GREATER

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pub fn get_velocity_callback_configuration( &self ) -> ConvertingReceiver<VelocityCallbackConfiguration>

Returns the receiver configuration as set by [set_velocity_callback_configuration].

Associated constants:

LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_OFF
LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_OUTSIDE
LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_INSIDE
LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_SMALLER
LASER_RANGE_FINDER_V2_BRICKLET_THRESHOLD_OPTION_GREATER

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pub fn set_enable(&self, enable: bool) -> ConvertingReceiver<()>

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 [get_distance] to ensure stable measurements.

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pub fn get_enable(&self) -> ConvertingReceiver<bool>

Returns the value as set by [set_enable].

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pub fn set_configuration( &self, acquisition_count: u8, enable_quick_termination: bool, threshold_value: u8, measurement_frequency: u16 ) -> ConvertingReceiver<()>

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.

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pub fn get_configuration(&self) -> ConvertingReceiver<Configuration>

Returns the configuration as set by [set_configuration].

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pub fn set_moving_average( &self, distance_average_length: u8, velocity_average_length: u8 ) -> ConvertingReceiver<()>

Sets the length of a moving averaging__ 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.

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pub fn get_moving_average(&self) -> ConvertingReceiver<MovingAverage>

Returns the length moving average as set by [set_moving_average].

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pub fn set_offset_calibration(&self, offset: i16) -> ConvertingReceiver<()>

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.

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pub fn get_offset_calibration(&self) -> ConvertingReceiver<i16>

Returns the offset value as set by [set_offset_calibration].

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pub fn set_distance_led_config(&self, config: u8) -> ConvertingReceiver<()>

Configures the distance LED to be either turned off, turned on, blink in heartbeat mode or show the distance (brighter = object is nearer).

Associated constants:

LASER_RANGE_FINDER_V2_BRICKLET_DISTANCE_LED_CONFIG_OFF
LASER_RANGE_FINDER_V2_BRICKLET_DISTANCE_LED_CONFIG_ON
LASER_RANGE_FINDER_V2_BRICKLET_DISTANCE_LED_CONFIG_SHOW_HEARTBEAT
LASER_RANGE_FINDER_V2_BRICKLET_DISTANCE_LED_CONFIG_SHOW_DISTANCE

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pub fn get_distance_led_config(&self) -> ConvertingReceiver<u8>

Returns the LED configuration as set by [set_distance_led_config]

Associated constants:

LASER_RANGE_FINDER_V2_BRICKLET_DISTANCE_LED_CONFIG_OFF
LASER_RANGE_FINDER_V2_BRICKLET_DISTANCE_LED_CONFIG_ON
LASER_RANGE_FINDER_V2_BRICKLET_DISTANCE_LED_CONFIG_SHOW_HEARTBEAT
LASER_RANGE_FINDER_V2_BRICKLET_DISTANCE_LED_CONFIG_SHOW_DISTANCE

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pub fn get_spitfp_error_count(&self) -> ConvertingReceiver<SpitfpErrorCount>

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.

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pub fn set_bootloader_mode(&self, mode: u8) -> ConvertingReceiver<u8>

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.

Associated constants:

LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER
LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE
LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT
LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT
LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT
LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_STATUS_OK
LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_STATUS_INVALID_MODE
LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_STATUS_NO_CHANGE
LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT
LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT
LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_STATUS_CRC_MISMATCH

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pub fn get_bootloader_mode(&self) -> ConvertingReceiver<u8>

Returns the current bootloader mode, see [set_bootloader_mode].

Associated constants:

LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER
LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE
LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT
LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT
LASER_RANGE_FINDER_V2_BRICKLET_BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT

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pub fn set_write_firmware_pointer(&self, pointer: u32) -> ConvertingReceiver<()>

Sets the firmware pointer for [write_firmware]. 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.

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pub fn write_firmware(&self, data: [u8; 64]) -> ConvertingReceiver<u8>

Writes 64 Bytes of firmware at the position as written by [set_write_firmware_pointer] 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.

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pub fn set_status_led_config(&self, config: u8) -> ConvertingReceiver<()>

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.

Associated constants:

LASER_RANGE_FINDER_V2_BRICKLET_STATUS_LED_CONFIG_OFF
LASER_RANGE_FINDER_V2_BRICKLET_STATUS_LED_CONFIG_ON
LASER_RANGE_FINDER_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_HEARTBEAT
LASER_RANGE_FINDER_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_STATUS

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pub fn get_status_led_config(&self) -> ConvertingReceiver<u8>

Returns the configuration as set by [set_status_led_config]

Associated constants:

LASER_RANGE_FINDER_V2_BRICKLET_STATUS_LED_CONFIG_OFF
LASER_RANGE_FINDER_V2_BRICKLET_STATUS_LED_CONFIG_ON
LASER_RANGE_FINDER_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_HEARTBEAT
LASER_RANGE_FINDER_V2_BRICKLET_STATUS_LED_CONFIG_SHOW_STATUS

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pub fn get_chip_temperature(&self) -> ConvertingReceiver<i16>

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.

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