pub struct LaserRangeFinderBricklet { /* private fields */ }
Expand description
Measures distance up to 40m with laser light
Implementations
sourceimpl LaserRangeFinderBricklet
impl LaserRangeFinderBricklet
pub const DEVICE_IDENTIFIER: u16 = 255u16
pub const DEVICE_DISPLAY_NAME: &'static str = "Laser Range Finder Bricklet"
sourcepub fn new(uid: &str, ip_connection: &IpConnection) -> LaserRangeFinderBricklet
pub fn new(uid: &str, ip_connection: &IpConnection) -> LaserRangeFinderBricklet
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: LaserRangeFinderBrickletFunction
) -> Result<bool, GetResponseExpectedError>
pub fn get_response_expected(
&mut self,
fun: LaserRangeFinderBrickletFunction
) -> 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 send 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: LaserRangeFinderBrickletFunction,
response_expected: bool
) -> Result<(), SetResponseExpectedError>
pub fn set_response_expected(
&mut self,
fun: LaserRangeFinderBrickletFunction,
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 send 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_distance_callback_receiver(&self) -> ConvertingCallbackReceiver<u16>
pub fn get_distance_callback_receiver(&self) -> ConvertingCallbackReceiver<u16>
This receiver is triggered periodically with the period that is set by
Set Distance Receiver Period
. The parameter is the distance
value of the sensor.
The get_distance_callback_receiver
receiver is only triggered if the distance value has changed
since the last triggering.
sourcepub fn get_velocity_callback_receiver(&self) -> ConvertingCallbackReceiver<i16>
pub fn get_velocity_callback_receiver(&self) -> ConvertingCallbackReceiver<i16>
This receiver is triggered periodically with the period that is set by
Set Velocity Receiver Period
. The parameter is the velocity
value of the sensor.
The get_velocity_callback_receiver
receiver is only triggered if the velocity has changed since
the last triggering.
sourcepub fn get_distance_reached_callback_receiver(
&self
) -> ConvertingCallbackReceiver<u16>
pub fn get_distance_reached_callback_receiver(
&self
) -> ConvertingCallbackReceiver<u16>
This receiver is triggered when the threshold as set by
Set Distance Receiver Threshold
is reached.
The parameter is the distance value of the sensor.
If the threshold keeps being reached, the receiver is triggered periodically
with the period as set by Set Debounce Period
.
sourcepub fn get_velocity_reached_callback_receiver(
&self
) -> ConvertingCallbackReceiver<i16>
pub fn get_velocity_reached_callback_receiver(
&self
) -> ConvertingCallbackReceiver<i16>
This receiver is triggered when the threshold as set by
Set Velocity Receiver Threshold
is reached.
The parameter is the velocity value of the sensor.
If the threshold keeps being reached, the receiver is triggered periodically
with the period as set by Set Debounce Period
.
sourcepub fn get_distance(&self) -> ConvertingReceiver<u16>
pub fn get_distance(&self) -> ConvertingReceiver<u16>
Returns the measured distance. The value has a range of 0 to 4000 and is given in cm.
Sensor hardware version 1 (see Get Sensor Hardware Version
) cannot
measure distance and velocity at the same time. Therefore, the distance mode
has to be enabled using Set Mode
.
Sensor hardware version 3 can measure distance and velocity at the same
time. Also the laser has to be enabled, see Enable Laser
.
If you want to get the distance periodically, it is recommended to
use the get_distance_callback_receiver
receiver and set the period with
Set Distance Receiver Period
.
sourcepub fn get_velocity(&self) -> ConvertingReceiver<i16>
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.
Sensor hardware version 1 (see Get Sensor Hardware Version
) cannot
measure distance and velocity at the same time. Therefore, the velocity mode
has to be enabled using Set Mode
.
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 Set Configuration
) is configured. Also the laser
has to be enabled, see Enable Laser
.
If you want to get the velocity periodically, it is recommended to
use the get_velocity_callback_receiver
receiver and set the period with
Set Velocity Receiver Period
.
sourcepub fn set_distance_callback_period(&self, period: u32) -> ConvertingReceiver<()>
pub fn set_distance_callback_period(&self, period: u32) -> ConvertingReceiver<()>
Sets the period in ms with which the get_distance_callback_receiver
receiver is triggered
periodically. A value of 0 turns the receiver off.
The get_distance_callback_receiver
receiver is only triggered if the distance value has
changed since the last triggering.
The default value is 0.
sourcepub fn get_distance_callback_period(&self) -> ConvertingReceiver<u32>
pub fn get_distance_callback_period(&self) -> ConvertingReceiver<u32>
Returns the period as set by Set Distance Receiver Period
.
sourcepub fn set_velocity_callback_period(&self, period: u32) -> ConvertingReceiver<()>
pub fn set_velocity_callback_period(&self, period: u32) -> ConvertingReceiver<()>
Sets the period in ms with which the get_velocity_callback_receiver
receiver is triggered
periodically. A value of 0 turns the receiver off.
The get_velocity_callback_receiver
receiver is only triggered if the velocity value has
changed since the last triggering.
The default value is 0.
sourcepub fn get_velocity_callback_period(&self) -> ConvertingReceiver<u32>
pub fn get_velocity_callback_period(&self) -> ConvertingReceiver<u32>
Returns the period as set by Set Velocity Receiver Period
.
sourcepub fn set_distance_callback_threshold(
&self,
option: char,
min: u16,
max: u16
) -> ConvertingReceiver<()>
pub fn set_distance_callback_threshold(
&self,
option: char,
min: u16,
max: u16
) -> ConvertingReceiver<()>
Sets the thresholds for the get_distance_reached_callback_receiver
receiver.
The following options are possible:
Option | Description |
---|---|
‘x’ | Receiver is turned off |
‘o’ | Receiver is triggered when the distance value is outside the min and max values |
‘i’ | Receiver is triggered when the distance value is inside the min and max values |
‘<’ | Receiver is triggered when the distance value is smaller than the min value (max is ignored) |
‘>’ | Receiver is triggered when the distance value is greater than the min value (max is ignored) |
The default value is (‘x’, 0, 0).
Associated constants:
- LASER_RANGE_FINDERBRICKLET_THRESHOLD_OPTION_OFF
- LASER_RANGE_FINDERBRICKLET_THRESHOLD_OPTION_OUTSIDE
- LASER_RANGE_FINDERBRICKLET_THRESHOLD_OPTION_INSIDE
- LASER_RANGE_FINDERBRICKLET_THRESHOLD_OPTION_SMALLER
- LASER_RANGE_FINDERBRICKLET_THRESHOLD_OPTION_GREATER
sourcepub fn get_distance_callback_threshold(
&self
) -> ConvertingReceiver<DistanceCallbackThreshold>
pub fn get_distance_callback_threshold(
&self
) -> ConvertingReceiver<DistanceCallbackThreshold>
Returns the threshold as set by Set Distance Receiver Threshold
.
Associated constants:
- LASER_RANGE_FINDERBRICKLET_THRESHOLD_OPTION_OFF
- LASER_RANGE_FINDERBRICKLET_THRESHOLD_OPTION_OUTSIDE
- LASER_RANGE_FINDERBRICKLET_THRESHOLD_OPTION_INSIDE
- LASER_RANGE_FINDERBRICKLET_THRESHOLD_OPTION_SMALLER
- LASER_RANGE_FINDERBRICKLET_THRESHOLD_OPTION_GREATER
sourcepub fn set_velocity_callback_threshold(
&self,
option: char,
min: i16,
max: i16
) -> ConvertingReceiver<()>
pub fn set_velocity_callback_threshold(
&self,
option: char,
min: i16,
max: i16
) -> ConvertingReceiver<()>
Sets the thresholds for the get_velocity_reached_callback_receiver
receiver.
The following options are possible:
Option | Description |
---|---|
‘x’ | Receiver is turned off |
‘o’ | Receiver is triggered when the velocity is outside the min and max values |
‘i’ | Receiver is triggered when the velocity is inside the min and max values |
‘<’ | Receiver is triggered when the velocity is smaller than the min value (max is ignored) |
‘>’ | Receiver is triggered when the velocity is greater than the min value (max is ignored) |
The default value is (‘x’, 0, 0).
Associated constants:
- LASER_RANGE_FINDERBRICKLET_THRESHOLD_OPTION_OFF
- LASER_RANGE_FINDERBRICKLET_THRESHOLD_OPTION_OUTSIDE
- LASER_RANGE_FINDERBRICKLET_THRESHOLD_OPTION_INSIDE
- LASER_RANGE_FINDERBRICKLET_THRESHOLD_OPTION_SMALLER
- LASER_RANGE_FINDERBRICKLET_THRESHOLD_OPTION_GREATER
sourcepub fn get_velocity_callback_threshold(
&self
) -> ConvertingReceiver<VelocityCallbackThreshold>
pub fn get_velocity_callback_threshold(
&self
) -> ConvertingReceiver<VelocityCallbackThreshold>
Returns the threshold as set by Set Velocity Receiver Threshold
.
Associated constants:
- LASER_RANGE_FINDERBRICKLET_THRESHOLD_OPTION_OFF
- LASER_RANGE_FINDERBRICKLET_THRESHOLD_OPTION_OUTSIDE
- LASER_RANGE_FINDERBRICKLET_THRESHOLD_OPTION_INSIDE
- LASER_RANGE_FINDERBRICKLET_THRESHOLD_OPTION_SMALLER
- LASER_RANGE_FINDERBRICKLET_THRESHOLD_OPTION_GREATER
sourcepub fn set_debounce_period(&self, debounce: u32) -> ConvertingReceiver<()>
pub fn set_debounce_period(&self, debounce: u32) -> ConvertingReceiver<()>
Sets the period in ms with which the threshold receivers
are triggered, if the thresholds
Set Distance Receiver Threshold
,Set Velocity Receiver Threshold
,
keep being reached.
The default value is 100.
sourcepub fn get_debounce_period(&self) -> ConvertingReceiver<u32>
pub fn get_debounce_period(&self) -> ConvertingReceiver<u32>
Returns the debounce period as set by Set Debounce Period
.
sourcepub fn set_moving_average(
&self,
distance_average_length: u8,
velocity_average_length: u8
) -> ConvertingReceiver<()>
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.
The range for the averaging is 0-30.
The default value is 10.
sourcepub fn get_moving_average(&self) -> ConvertingReceiver<MovingAverage>
pub fn get_moving_average(&self) -> ConvertingReceiver<MovingAverage>
Returns the length moving average as set by Set Moving Average
.
sourcepub fn set_mode(&self, mode: u8) -> ConvertingReceiver<()>
pub fn set_mode(&self, mode: u8) -> ConvertingReceiver<()>
Note
This function is only available if you have a LIDAR-Lite sensor with hardware
version 1. Use Set Configuration
for hardware version 3. You can check
the sensor hardware version using Get Sensor Hardware Version
.
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 0-400 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
The default mode is 0 (distance is measured).
Associated constants:
- LASER_RANGE_FINDERBRICKLET_MODE_DISTANCE
- LASER_RANGE_FINDERBRICKLET_MODE_VELOCITY_MAX_13MS
- LASER_RANGE_FINDERBRICKLET_MODE_VELOCITY_MAX_32MS
- LASER_RANGE_FINDERBRICKLET_MODE_VELOCITY_MAX_64MS
- LASER_RANGE_FINDERBRICKLET_MODE_VELOCITY_MAX_127MS
sourcepub fn get_mode(&self) -> ConvertingReceiver<u8>
pub fn get_mode(&self) -> ConvertingReceiver<u8>
Returns the mode as set by Set Mode
.
Associated constants:
- LASER_RANGE_FINDERBRICKLET_MODE_DISTANCE
- LASER_RANGE_FINDERBRICKLET_MODE_VELOCITY_MAX_13MS
- LASER_RANGE_FINDERBRICKLET_MODE_VELOCITY_MAX_32MS
- LASER_RANGE_FINDERBRICKLET_MODE_VELOCITY_MAX_64MS
- LASER_RANGE_FINDERBRICKLET_MODE_VELOCITY_MAX_127MS
sourcepub fn enable_laser(&self) -> ConvertingReceiver<()>
pub fn enable_laser(&self) -> ConvertingReceiver<()>
Activates the laser of the LIDAR.
We recommend that you wait 250ms after enabling the laser before
the first call of Get Distance
to ensure stable measurements.
sourcepub fn disable_laser(&self) -> ConvertingReceiver<()>
pub fn disable_laser(&self) -> ConvertingReceiver<()>
Deactivates the laser of the LIDAR.
sourcepub fn is_laser_enabled(&self) -> ConvertingReceiver<bool>
pub fn is_laser_enabled(&self) -> ConvertingReceiver<bool>
Returns true if the laser is enabled, false otherwise.
sourcepub fn get_sensor_hardware_version(&self) -> ConvertingReceiver<u8>
pub fn get_sensor_hardware_version(&self) -> ConvertingReceiver<u8>
Returns the LIDAR-Lite hardware version.
.. versionadded:: 2.0.3$nbsp;(Plugin)
Associated constants:
- LASER_RANGE_FINDERBRICKLET_VERSION_1
- LASER_RANGE_FINDERBRICKLET_VERSION_3
sourcepub fn set_configuration(
&self,
acquisition_count: u8,
enable_quick_termination: bool,
threshold_value: u8,
measurement_frequency: u16
) -> ConvertingReceiver<()>
pub fn set_configuration(
&self,
acquisition_count: u8,
enable_quick_termination: bool,
threshold_value: u8,
measurement_frequency: u16
) -> ConvertingReceiver<()>
Note
This function is only available if you have a LIDAR-Lite sensor with hardware
version 3. Use Set Mode
for hardware version 1. You can check
the sensor hardware version using Get Sensor Hardware Version
.
The Aquisition 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 in Hz 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.
.. versionadded:: 2.0.3$nbsp;(Plugin)
sourcepub fn get_configuration(&self) -> ConvertingReceiver<Configuration>
pub fn get_configuration(&self) -> ConvertingReceiver<Configuration>
Returns the configuration as set by Set Configuration
.
.. versionadded:: 2.0.3$nbsp;(Plugin)
sourcepub fn get_identity(&self) -> ConvertingReceiver<Identity>
pub fn get_identity(&self) -> ConvertingReceiver<Identity>
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’ or ‘d’.
The device identifier numbers can be found here. |device_identifier_constant|
Trait Implementations
sourceimpl Clone for LaserRangeFinderBricklet
impl Clone for LaserRangeFinderBricklet
sourcefn clone(&self) -> LaserRangeFinderBricklet
fn clone(&self) -> LaserRangeFinderBricklet
1.0.0 · sourcefn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
source
. Read more