pub struct LaserRangeFinderV2Bricklet { /* private fields */ }Expand description
Measures distance up to 40m with laser light
Implementations§
Source§impl LaserRangeFinderV2Bricklet
impl LaserRangeFinderV2Bricklet
pub const DEVICE_IDENTIFIER: u16 = 2_144u16
pub const DEVICE_DISPLAY_NAME: &'static str = "Laser Range Finder Bricklet 2.0"
Sourcepub fn new(
uid: Uid,
connection: AsyncIpConnection,
) -> LaserRangeFinderV2Bricklet
pub fn new( uid: Uid, connection: AsyncIpConnection, ) -> LaserRangeFinderV2Bricklet
Creates an object with the unique device ID uid. This object can then be used after the IP Connection ip_connection is connected.
Sourcepub fn get_response_expected(
&mut self,
fun: LaserRangeFinderV2BrickletFunction,
) -> Result<bool, GetResponseExpectedError>
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.
Sourcepub fn set_response_expected(
&mut self,
fun: LaserRangeFinderV2BrickletFunction,
response_expected: bool,
) -> Result<(), SetResponseExpectedError>
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.
Sourcepub fn set_response_expected_all(&mut self, response_expected: bool)
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.
Sourcepub fn get_api_version(&self) -> [u8; 3]
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.
Sourcepub async fn get_distance_callback_receiver(
&mut self,
) -> impl Stream<Item = i16>
pub async fn get_distance_callback_receiver( &mut self, ) -> impl Stream<Item = i16>
This receiver is triggered periodically according to the configuration set by
set_distance_callback_configuration.
The parameter is the same as get_distance.
Sourcepub async fn get_velocity_callback_receiver(
&mut self,
) -> impl Stream<Item = i16>
pub async fn get_velocity_callback_receiver( &mut self, ) -> impl Stream<Item = i16>
This receiver is triggered periodically according to the configuration set by
[set_velocity_callback_configuration].
The parameter is the same as [get_velocity].
Sourcepub async fn get_distance(&mut self) -> Result<i16, TinkerforgeError>
pub async fn get_distance(&mut self) -> Result<i16, TinkerforgeError>
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].
Sourcepub async fn set_distance_callback_configuration(
&mut self,
period: u32,
value_has_to_change: bool,
option: char,
min: i16,
max: i16,
) -> Result<(), TinkerforgeError>
pub async fn set_distance_callback_configuration( &mut self, period: u32, value_has_to_change: bool, option: char, min: i16, max: i16, ) -> Result<(), TinkerforgeError>
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
Sourcepub async fn get_distance_callback_configuration(
&mut self,
) -> Result<DistanceCallbackConfiguration, TinkerforgeError>
pub async fn get_distance_callback_configuration( &mut self, ) -> Result<DistanceCallbackConfiguration, TinkerforgeError>
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
Sourcepub async fn get_velocity(&mut self) -> Result<i16, TinkerforgeError>
pub async fn get_velocity(&mut self) -> Result<i16, TinkerforgeError>
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].
Sourcepub async fn set_velocity_callback_configuration(
&mut self,
period: u32,
value_has_to_change: bool,
option: char,
min: i16,
max: i16,
) -> Result<(), TinkerforgeError>
pub async fn set_velocity_callback_configuration( &mut self, period: u32, value_has_to_change: bool, option: char, min: i16, max: i16, ) -> Result<(), TinkerforgeError>
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
Sourcepub async fn get_velocity_callback_configuration(
&mut self,
) -> Result<VelocityCallbackConfiguration, TinkerforgeError>
pub async fn get_velocity_callback_configuration( &mut self, ) -> Result<VelocityCallbackConfiguration, TinkerforgeError>
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
Sourcepub async fn set_enable(&mut self, enable: bool) -> Result<(), TinkerforgeError>
pub async fn set_enable(&mut self, enable: bool) -> Result<(), TinkerforgeError>
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.
Sourcepub async fn get_enable(&mut self) -> Result<bool, TinkerforgeError>
pub async fn get_enable(&mut self) -> Result<bool, TinkerforgeError>
Returns the value as set by [set_enable].
Sourcepub async fn set_configuration(
&mut self,
acquisition_count: u8,
enable_quick_termination: bool,
threshold_value: u8,
measurement_frequency: u16,
) -> Result<(), TinkerforgeError>
pub async fn set_configuration( &mut self, acquisition_count: u8, enable_quick_termination: bool, threshold_value: u8, measurement_frequency: u16, ) -> Result<(), TinkerforgeError>
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.
Sourcepub async fn get_configuration(
&mut self,
) -> Result<Configuration, TinkerforgeError>
pub async fn get_configuration( &mut self, ) -> Result<Configuration, TinkerforgeError>
Returns the configuration as set by [set_configuration].
Sourcepub async fn set_moving_average(
&mut self,
distance_average_length: u8,
velocity_average_length: u8,
) -> Result<(), TinkerforgeError>
pub async fn set_moving_average( &mut self, distance_average_length: u8, velocity_average_length: u8, ) -> Result<(), TinkerforgeError>
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.
Sourcepub async fn get_moving_average(
&mut self,
) -> Result<MovingAverage, TinkerforgeError>
pub async fn get_moving_average( &mut self, ) -> Result<MovingAverage, TinkerforgeError>
Returns the length moving average as set by [set_moving_average].
Sourcepub async fn set_offset_calibration(
&mut self,
offset: i16,
) -> Result<(), TinkerforgeError>
pub async fn set_offset_calibration( &mut self, offset: i16, ) -> Result<(), TinkerforgeError>
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.
Sourcepub async fn get_offset_calibration(&mut self) -> Result<i16, TinkerforgeError>
pub async fn get_offset_calibration(&mut self) -> Result<i16, TinkerforgeError>
Returns the offset value as set by [set_offset_calibration].
Sourcepub async fn set_distance_led_config(
&mut self,
config: u8,
) -> Result<(), TinkerforgeError>
pub async fn set_distance_led_config( &mut self, config: u8, ) -> Result<(), TinkerforgeError>
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
Sourcepub async fn get_distance_led_config(&mut self) -> Result<u8, TinkerforgeError>
pub async fn get_distance_led_config(&mut self) -> Result<u8, TinkerforgeError>
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
Sourcepub async fn get_spitfp_error_count(
&mut self,
) -> Result<SpitfpErrorCount, TinkerforgeError>
pub async fn get_spitfp_error_count( &mut self, ) -> Result<SpitfpErrorCount, TinkerforgeError>
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.
Sourcepub async fn set_bootloader_mode(
&mut self,
mode: u8,
) -> Result<u8, TinkerforgeError>
pub async fn set_bootloader_mode( &mut self, mode: u8, ) -> Result<u8, TinkerforgeError>
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
Sourcepub async fn get_bootloader_mode(&mut self) -> Result<u8, TinkerforgeError>
pub async fn get_bootloader_mode(&mut self) -> Result<u8, TinkerforgeError>
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
Sourcepub async fn set_write_firmware_pointer(
&mut self,
pointer: u32,
) -> Result<(), TinkerforgeError>
pub async fn set_write_firmware_pointer( &mut self, pointer: u32, ) -> Result<(), TinkerforgeError>
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.
Sourcepub async fn write_firmware(
&mut self,
data: &[u8; 64],
) -> Result<u8, TinkerforgeError>
pub async fn write_firmware( &mut self, data: &[u8; 64], ) -> Result<u8, TinkerforgeError>
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.
Sourcepub async fn set_status_led_config(
&mut self,
config: u8,
) -> Result<(), TinkerforgeError>
pub async fn set_status_led_config( &mut self, config: u8, ) -> Result<(), TinkerforgeError>
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
Sourcepub async fn get_status_led_config(&mut self) -> Result<u8, TinkerforgeError>
pub async fn get_status_led_config(&mut self) -> Result<u8, TinkerforgeError>
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
Sourcepub async fn get_chip_temperature(&mut self) -> Result<i16, TinkerforgeError>
pub async fn get_chip_temperature(&mut self) -> Result<i16, TinkerforgeError>
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.
Sourcepub async fn reset(&mut self) -> Result<(), TinkerforgeError>
pub async fn reset(&mut self) -> Result<(), TinkerforgeError>
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!
Sourcepub async fn write_uid(&mut self, uid: u32) -> Result<(), TinkerforgeError>
pub async fn write_uid(&mut self, uid: u32) -> Result<(), TinkerforgeError>
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.
Sourcepub async fn read_uid(&mut self) -> Result<u32, TinkerforgeError>
pub async fn read_uid(&mut self) -> Result<u32, TinkerforgeError>
Returns the current UID as an integer. Encode as Base58 to get the usual string version.
Sourcepub async fn get_identity(&mut self) -> Result<Identity, TinkerforgeError>
pub async fn get_identity(&mut self) -> Result<Identity, TinkerforgeError>
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 is always at position ‘z’.
The device identifier numbers can be found here. |device_identifier_constant|
Trait Implementations§
Source§impl Clone for LaserRangeFinderV2Bricklet
impl Clone for LaserRangeFinderV2Bricklet
Source§fn clone(&self) -> LaserRangeFinderV2Bricklet
fn clone(&self) -> LaserRangeFinderV2Bricklet
1.0.0 · Source§fn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
source. Read more