tinkerforge 2.1.4 → 2.1.6
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- data/lib/tinkerforge/brick_dc.rb +42 -4
- data/lib/tinkerforge/brick_imu.rb +49 -11
- data/lib/tinkerforge/brick_imu_v2.rb +506 -0
- data/lib/tinkerforge/brick_master.rb +86 -46
- data/lib/tinkerforge/brick_red.rb +36 -5
- data/lib/tinkerforge/brick_servo.rb +53 -15
- data/lib/tinkerforge/brick_stepper.rb +43 -14
- data/lib/tinkerforge/bricklet_accelerometer.rb +229 -0
- data/lib/tinkerforge/bricklet_ambient_light.rb +10 -9
- data/lib/tinkerforge/bricklet_ambient_light_v2.rb +216 -0
- data/lib/tinkerforge/bricklet_analog_in.rb +13 -12
- data/lib/tinkerforge/bricklet_analog_in_v2.rb +259 -0
- data/lib/tinkerforge/bricklet_analog_out.rb +5 -4
- data/lib/tinkerforge/bricklet_analog_out_v2.rb +66 -0
- data/lib/tinkerforge/bricklet_barometer.rb +11 -9
- data/lib/tinkerforge/bricklet_color.rb +11 -9
- data/lib/tinkerforge/bricklet_current12.rb +5 -4
- data/lib/tinkerforge/bricklet_current25.rb +5 -4
- data/lib/tinkerforge/bricklet_distance_ir.rb +8 -7
- data/lib/tinkerforge/bricklet_distance_us.rb +9 -8
- data/lib/tinkerforge/bricklet_dual_button.rb +5 -4
- data/lib/tinkerforge/bricklet_dual_relay.rb +5 -4
- data/lib/tinkerforge/bricklet_dust_detector.rb +178 -0
- data/lib/tinkerforge/bricklet_gps.rb +6 -5
- data/lib/tinkerforge/bricklet_hall_effect.rb +5 -4
- data/lib/tinkerforge/bricklet_humidity.rb +8 -7
- data/lib/tinkerforge/bricklet_industrial_analog_out.rb +137 -0
- data/lib/tinkerforge/bricklet_industrial_digital_in_4.rb +8 -7
- data/lib/tinkerforge/bricklet_industrial_digital_out_4.rb +5 -4
- data/lib/tinkerforge/bricklet_industrial_dual_0_20ma.rb +6 -5
- data/lib/tinkerforge/bricklet_industrial_dual_analog_in.rb +209 -0
- data/lib/tinkerforge/bricklet_industrial_quad_relay.rb +5 -4
- data/lib/tinkerforge/bricklet_io16.rb +8 -7
- data/lib/tinkerforge/bricklet_io4.rb +8 -7
- data/lib/tinkerforge/bricklet_joystick.rb +5 -4
- data/lib/tinkerforge/bricklet_laser_range_finder.rb +324 -0
- data/lib/tinkerforge/bricklet_lcd_16x2.rb +7 -6
- data/lib/tinkerforge/bricklet_lcd_20x4.rb +11 -10
- data/lib/tinkerforge/bricklet_led_strip.rb +12 -10
- data/lib/tinkerforge/bricklet_line.rb +5 -4
- data/lib/tinkerforge/bricklet_linear_poti.rb +8 -7
- data/lib/tinkerforge/bricklet_load_cell.rb +261 -0
- data/lib/tinkerforge/bricklet_moisture.rb +6 -5
- data/lib/tinkerforge/bricklet_motion_detector.rb +5 -4
- data/lib/tinkerforge/bricklet_multi_touch.rb +5 -4
- data/lib/tinkerforge/bricklet_nfc_rfid.rb +38 -46
- data/lib/tinkerforge/bricklet_piezo_buzzer.rb +5 -4
- data/lib/tinkerforge/bricklet_piezo_speaker.rb +6 -5
- data/lib/tinkerforge/bricklet_ptc.rb +5 -4
- data/lib/tinkerforge/bricklet_remote_switch.rb +9 -8
- data/lib/tinkerforge/bricklet_rotary_encoder.rb +5 -4
- data/lib/tinkerforge/bricklet_rotary_poti.rb +5 -4
- data/lib/tinkerforge/bricklet_rs232.rb +183 -0
- data/lib/tinkerforge/bricklet_segment_display_4x7.rb +8 -5
- data/lib/tinkerforge/bricklet_solid_state_relay.rb +5 -4
- data/lib/tinkerforge/bricklet_sound_intensity.rb +6 -5
- data/lib/tinkerforge/bricklet_temperature.rb +7 -6
- data/lib/tinkerforge/bricklet_temperature_ir.rb +7 -6
- data/lib/tinkerforge/bricklet_tilt.rb +5 -4
- data/lib/tinkerforge/bricklet_voltage.rb +8 -7
- data/lib/tinkerforge/bricklet_voltage_current.rb +5 -4
- data/lib/tinkerforge/version.rb +1 -1
- metadata +13 -2
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# -*- ruby encoding: utf-8 -*-
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#############################################################
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# This file was automatically generated on
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# This file was automatically generated on 2015-11-17. #
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# #
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# Bindings Version 2.1.
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# Bindings Version 2.1.6 #
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# #
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# If you have a bugfix for this file and want to commit it, #
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# please fix the bug in the generator. You can find a link #
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# to the
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# to the generators git repository on tinkerforge.com #
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#############################################################
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module Tinkerforge
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#
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# 4 galvanically isolated solid state relays
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class BrickletIndustrialQuadRelay < Device
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DEVICE_IDENTIFIER = 225 # :nodoc:
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DEVICE_DISPLAY_NAME = 'Industrial Quad Relay Bricklet' # :nodoc:
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# This callback is triggered whenever a monoflop timer reaches 0. The
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# parameters contain the involved pins and the current value of the pins
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# -*- ruby encoding: utf-8 -*-
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#############################################################
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# This file was automatically generated on
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# This file was automatically generated on 2015-11-17. #
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# #
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# Bindings Version 2.1.
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# Bindings Version 2.1.6 #
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# #
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# If you have a bugfix for this file and want to commit it, #
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# please fix the bug in the generator. You can find a link #
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# to the
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# to the generators git repository on tinkerforge.com #
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#############################################################
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module Tinkerforge
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#
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# 16-channel digital input/output
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class BrickletIO16 < Device
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DEVICE_IDENTIFIER = 28 # :nodoc:
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DEVICE_DISPLAY_NAME = 'IO-16 Bricklet' # :nodoc:
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# This callback is triggered whenever a change of the voltage level is detected
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# on pins where the interrupt was activated with BrickletIO16#set_port_interrupt.
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# If you set the reset counter to *true*, the count is set back to 0
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# directly after it is read.
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#
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# .. versionadded:: 2.0.3
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# .. versionadded:: 2.0.3$nbsp;(Plugin)
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def get_edge_count(pin, reset_counter)
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send_request(FUNCTION_GET_EDGE_COUNT, [pin, reset_counter], 'C ?', 4, 'L')
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end
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#
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# Default values: 0 (edge type) and 100ms (debounce time)
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#
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# .. versionadded:: 2.0.3
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# .. versionadded:: 2.0.3$nbsp;(Plugin)
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def set_edge_count_config(pin, edge_type, debounce)
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send_request(FUNCTION_SET_EDGE_COUNT_CONFIG, [pin, edge_type, debounce], 'C C C', 0, '')
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end
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# Returns the edge type and debounce time for the selected pin of port A as set by
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# BrickletIO16#set_edge_count_config.
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#
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# .. versionadded:: 2.0.3
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# .. versionadded:: 2.0.3$nbsp;(Plugin)
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def get_edge_count_config(pin)
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send_request(FUNCTION_GET_EDGE_COUNT_CONFIG, [pin], 'C', 2, 'C C')
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end
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# -*- ruby encoding: utf-8 -*-
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#############################################################
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# This file was automatically generated on
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# This file was automatically generated on 2015-11-17. #
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# #
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# Bindings Version 2.1.
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# Bindings Version 2.1.6 #
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# #
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# If you have a bugfix for this file and want to commit it, #
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# please fix the bug in the generator. You can find a link #
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# to the
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# to the generators git repository on tinkerforge.com #
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#############################################################
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module Tinkerforge
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#
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# 4-channel digital input/output
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class BrickletIO4 < Device
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DEVICE_IDENTIFIER = 29 # :nodoc:
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DEVICE_DISPLAY_NAME = 'IO-4 Bricklet' # :nodoc:
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# This callback is triggered whenever a change of the voltage level is detected
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# on pins where the interrupt was activated with BrickletIO4#set_interrupt.
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# If you set the reset counter to *true*, the count is set back to 0
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# directly after it is read.
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#
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# .. versionadded:: 2.0.1
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# .. versionadded:: 2.0.1$nbsp;(Plugin)
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def get_edge_count(pin, reset_counter)
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send_request(FUNCTION_GET_EDGE_COUNT, [pin, reset_counter], 'C ?', 4, 'L')
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end
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#
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# Default values: 0 (edge type) and 100ms (debounce time)
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#
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# .. versionadded:: 2.0.1
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# .. versionadded:: 2.0.1$nbsp;(Plugin)
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def set_edge_count_config(selection_mask, edge_type, debounce)
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send_request(FUNCTION_SET_EDGE_COUNT_CONFIG, [selection_mask, edge_type, debounce], 'C C C', 0, '')
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end
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# Returns the edge type and debounce time for the selected pin as set by
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# BrickletIO4#set_edge_count_config.
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#
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# .. versionadded:: 2.0.1
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# .. versionadded:: 2.0.1$nbsp;(Plugin)
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def get_edge_count_config(pin)
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send_request(FUNCTION_GET_EDGE_COUNT_CONFIG, [pin], 'C', 2, 'C C')
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end
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# -*- ruby encoding: utf-8 -*-
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#############################################################
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# This file was automatically generated on
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# This file was automatically generated on 2015-11-17. #
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# #
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# Bindings Version 2.1.
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# Bindings Version 2.1.6 #
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# #
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# If you have a bugfix for this file and want to commit it, #
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# please fix the bug in the generator. You can find a link #
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# to the
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# to the generators git repository on tinkerforge.com #
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#############################################################
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module Tinkerforge
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#
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# 2-axis joystick with push-button
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class BrickletJoystick < Device
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DEVICE_IDENTIFIER = 210 # :nodoc:
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DEVICE_DISPLAY_NAME = 'Joystick Bricklet' # :nodoc:
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# This callback is triggered periodically with the period that is set by
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# BrickletJoystick#set_position_callback_period. The parameter is the position of the
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# -*- ruby encoding: utf-8 -*-
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#############################################################
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# This file was automatically generated on 2015-11-17. #
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# #
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# Bindings Version 2.1.6 #
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# #
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# If you have a bugfix for this file and want to commit it, #
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# please fix the bug in the generator. You can find a link #
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# to the generators git repository on tinkerforge.com #
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#############################################################
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module Tinkerforge
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# Measures distance up to 40m with laser light
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class BrickletLaserRangeFinder < Device
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DEVICE_IDENTIFIER = 255 # :nodoc:
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DEVICE_DISPLAY_NAME = 'Laser Range Finder Bricklet' # :nodoc:
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# This callback is triggered periodically with the period that is set by
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# BrickletLaserRangeFinder#set_distance_callback_period. The parameter is the distance value
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# of the sensor.
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#
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# CALLBACK_DISTANCE is only triggered if the distance value has changed since the
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# last triggering.
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CALLBACK_DISTANCE = 20
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# This callback is triggered periodically with the period that is set by
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# BrickletLaserRangeFinder#set_velocity_callback_period. The parameter is the velocity value
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# of the sensor.
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#
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# CALLBACK_VELOCITY is only triggered if the velocity has changed since the
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# last triggering.
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CALLBACK_VELOCITY = 21
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# This callback is triggered when the threshold as set by
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# BrickletLaserRangeFinder#set_distance_callback_threshold is reached.
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# The parameter is the distance value of the sensor.
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#
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# If the threshold keeps being reached, the callback is triggered periodically
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# with the period as set by BrickletLaserRangeFinder#set_debounce_period.
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CALLBACK_DISTANCE_REACHED = 22
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# This callback is triggered when the threshold as set by
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# BrickletLaserRangeFinder#set_velocity_callback_threshold is reached.
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# The parameter is the velocity value of the sensor.
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#
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# If the threshold keeps being reached, the callback is triggered periodically
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# with the period as set by BrickletLaserRangeFinder#set_debounce_period.
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CALLBACK_VELOCITY_REACHED = 23
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FUNCTION_GET_DISTANCE = 1 # :nodoc:
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FUNCTION_GET_VELOCITY = 2 # :nodoc:
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FUNCTION_SET_DISTANCE_CALLBACK_PERIOD = 3 # :nodoc:
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FUNCTION_GET_DISTANCE_CALLBACK_PERIOD = 4 # :nodoc:
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FUNCTION_SET_VELOCITY_CALLBACK_PERIOD = 5 # :nodoc:
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FUNCTION_GET_VELOCITY_CALLBACK_PERIOD = 6 # :nodoc:
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FUNCTION_SET_DISTANCE_CALLBACK_THRESHOLD = 7 # :nodoc:
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FUNCTION_GET_DISTANCE_CALLBACK_THRESHOLD = 8 # :nodoc:
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FUNCTION_SET_VELOCITY_CALLBACK_THRESHOLD = 9 # :nodoc:
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FUNCTION_GET_VELOCITY_CALLBACK_THRESHOLD = 10 # :nodoc:
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FUNCTION_SET_DEBOUNCE_PERIOD = 11 # :nodoc:
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FUNCTION_GET_DEBOUNCE_PERIOD = 12 # :nodoc:
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FUNCTION_SET_MOVING_AVERAGE = 13 # :nodoc:
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FUNCTION_GET_MOVING_AVERAGE = 14 # :nodoc:
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FUNCTION_SET_MODE = 15 # :nodoc:
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FUNCTION_GET_MODE = 16 # :nodoc:
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FUNCTION_ENABLE_LASER = 17 # :nodoc:
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FUNCTION_DISABLE_LASER = 18 # :nodoc:
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FUNCTION_IS_LASER_ENABLED = 19 # :nodoc:
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FUNCTION_GET_IDENTITY = 255 # :nodoc:
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THRESHOLD_OPTION_OFF = 'x' # :nodoc:
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THRESHOLD_OPTION_OUTSIDE = 'o' # :nodoc:
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THRESHOLD_OPTION_INSIDE = 'i' # :nodoc:
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THRESHOLD_OPTION_SMALLER = '<' # :nodoc:
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THRESHOLD_OPTION_GREATER = '>' # :nodoc:
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MODE_DISTANCE = 0 # :nodoc:
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MODE_VELOCITY_MAX_13MS = 1 # :nodoc:
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MODE_VELOCITY_MAX_32MS = 2 # :nodoc:
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MODE_VELOCITY_MAX_64MS = 3 # :nodoc:
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MODE_VELOCITY_MAX_127MS = 4 # :nodoc:
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# Creates an object with the unique device ID <tt>uid</tt> and adds it to
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# the IP Connection <tt>ipcon</tt>.
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def initialize(uid, ipcon)
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super uid, ipcon
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@api_version = [2, 0, 0]
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@response_expected[FUNCTION_GET_DISTANCE] = RESPONSE_EXPECTED_ALWAYS_TRUE
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@response_expected[FUNCTION_GET_VELOCITY] = RESPONSE_EXPECTED_ALWAYS_TRUE
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@response_expected[FUNCTION_SET_DISTANCE_CALLBACK_PERIOD] = RESPONSE_EXPECTED_TRUE
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@response_expected[FUNCTION_GET_DISTANCE_CALLBACK_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
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@response_expected[FUNCTION_SET_VELOCITY_CALLBACK_PERIOD] = RESPONSE_EXPECTED_TRUE
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@response_expected[FUNCTION_GET_VELOCITY_CALLBACK_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
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@response_expected[FUNCTION_SET_DISTANCE_CALLBACK_THRESHOLD] = RESPONSE_EXPECTED_TRUE
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@response_expected[FUNCTION_GET_DISTANCE_CALLBACK_THRESHOLD] = RESPONSE_EXPECTED_ALWAYS_TRUE
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@response_expected[FUNCTION_SET_VELOCITY_CALLBACK_THRESHOLD] = RESPONSE_EXPECTED_TRUE
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@response_expected[FUNCTION_GET_VELOCITY_CALLBACK_THRESHOLD] = RESPONSE_EXPECTED_ALWAYS_TRUE
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@response_expected[FUNCTION_SET_DEBOUNCE_PERIOD] = RESPONSE_EXPECTED_TRUE
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@response_expected[FUNCTION_GET_DEBOUNCE_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
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@response_expected[FUNCTION_SET_MOVING_AVERAGE] = RESPONSE_EXPECTED_FALSE
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@response_expected[FUNCTION_GET_MOVING_AVERAGE] = RESPONSE_EXPECTED_ALWAYS_TRUE
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@response_expected[FUNCTION_SET_MODE] = RESPONSE_EXPECTED_FALSE
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@response_expected[FUNCTION_GET_MODE] = RESPONSE_EXPECTED_ALWAYS_TRUE
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@response_expected[FUNCTION_ENABLE_LASER] = RESPONSE_EXPECTED_FALSE
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@response_expected[FUNCTION_DISABLE_LASER] = RESPONSE_EXPECTED_FALSE
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@response_expected[FUNCTION_IS_LASER_ENABLED] = RESPONSE_EXPECTED_ALWAYS_TRUE
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108
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+
@response_expected[CALLBACK_DISTANCE] = RESPONSE_EXPECTED_ALWAYS_FALSE
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109
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+
@response_expected[CALLBACK_VELOCITY] = RESPONSE_EXPECTED_ALWAYS_FALSE
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110
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+
@response_expected[CALLBACK_DISTANCE_REACHED] = RESPONSE_EXPECTED_ALWAYS_FALSE
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111
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+
@response_expected[CALLBACK_VELOCITY_REACHED] = RESPONSE_EXPECTED_ALWAYS_FALSE
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112
|
+
@response_expected[FUNCTION_GET_IDENTITY] = RESPONSE_EXPECTED_ALWAYS_TRUE
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113
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+
|
114
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+
@callback_formats[CALLBACK_DISTANCE] = 'S'
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115
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+
@callback_formats[CALLBACK_VELOCITY] = 's'
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116
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+
@callback_formats[CALLBACK_DISTANCE_REACHED] = 'S'
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117
|
+
@callback_formats[CALLBACK_VELOCITY_REACHED] = 's'
|
118
|
+
end
|
119
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+
|
120
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+
# Returns the measured distance. The value has a range of 0 to 4000
|
121
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+
# and is given in cm.
|
122
|
+
#
|
123
|
+
# The Laser Range Finder Bricklet knows different modes. Distances
|
124
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+
# are only measured in the distance measurement mode,
|
125
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+
# see BrickletLaserRangeFinder#set_mode. Also the laser has to be enabled, see
|
126
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+
# BrickletLaserRangeFinder#enable_laser.
|
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|
+
#
|
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+
# If you want to get the distance periodically, it is recommended to
|
129
|
+
# use the callback CALLBACK_DISTANCE and set the period with
|
130
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+
# BrickletLaserRangeFinder#set_distance_callback_period.
|
131
|
+
def get_distance
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+
send_request(FUNCTION_GET_DISTANCE, [], '', 2, 'S')
|
133
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+
end
|
134
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+
|
135
|
+
# Returns the measured velocity. The value has a range of 0 to 12700
|
136
|
+
# and is given in 1/100 m/s.
|
137
|
+
#
|
138
|
+
# The Laser Range Finder Bricklet knows different modes. Velocity
|
139
|
+
# is only measured in the velocity measurement modes,
|
140
|
+
# see BrickletLaserRangeFinder#set_mode. Also the laser has to be enabled, see
|
141
|
+
# BrickletLaserRangeFinder#enable_laser.
|
142
|
+
#
|
143
|
+
# If you want to get the velocity periodically, it is recommended to
|
144
|
+
# use the callback CALLBACK_VELOCITY and set the period with
|
145
|
+
# BrickletLaserRangeFinder#set_velocity_callback_period.
|
146
|
+
def get_velocity
|
147
|
+
send_request(FUNCTION_GET_VELOCITY, [], '', 2, 's')
|
148
|
+
end
|
149
|
+
|
150
|
+
# Sets the period in ms with which the CALLBACK_DISTANCE callback is triggered
|
151
|
+
# periodically. A value of 0 turns the callback off.
|
152
|
+
#
|
153
|
+
# CALLBACK_DISTANCE is only triggered if the distance value has changed since the
|
154
|
+
# last triggering.
|
155
|
+
#
|
156
|
+
# The default value is 0.
|
157
|
+
def set_distance_callback_period(period)
|
158
|
+
send_request(FUNCTION_SET_DISTANCE_CALLBACK_PERIOD, [period], 'L', 0, '')
|
159
|
+
end
|
160
|
+
|
161
|
+
# Returns the period as set by BrickletLaserRangeFinder#set_distance_callback_period.
|
162
|
+
def get_distance_callback_period
|
163
|
+
send_request(FUNCTION_GET_DISTANCE_CALLBACK_PERIOD, [], '', 4, 'L')
|
164
|
+
end
|
165
|
+
|
166
|
+
# Sets the period in ms with which the CALLBACK_VELOCITY callback is triggered
|
167
|
+
# periodically. A value of 0 turns the callback off.
|
168
|
+
#
|
169
|
+
# CALLBACK_VELOCITY is only triggered if the velocity value has changed since the
|
170
|
+
# last triggering.
|
171
|
+
#
|
172
|
+
# The default value is 0.
|
173
|
+
def set_velocity_callback_period(period)
|
174
|
+
send_request(FUNCTION_SET_VELOCITY_CALLBACK_PERIOD, [period], 'L', 0, '')
|
175
|
+
end
|
176
|
+
|
177
|
+
# Returns the period as set by BrickletLaserRangeFinder#set_velocity_callback_period.
|
178
|
+
def get_velocity_callback_period
|
179
|
+
send_request(FUNCTION_GET_VELOCITY_CALLBACK_PERIOD, [], '', 4, 'L')
|
180
|
+
end
|
181
|
+
|
182
|
+
# Sets the thresholds for the CALLBACK_DISTANCE_REACHED callback.
|
183
|
+
#
|
184
|
+
# The following options are possible:
|
185
|
+
#
|
186
|
+
# "Option", "Description"
|
187
|
+
#
|
188
|
+
# "'x'", "Callback is turned off"
|
189
|
+
# "'o'", "Callback is triggered when the distance value is *outside* the min and max values"
|
190
|
+
# "'i'", "Callback is triggered when the distance value is *inside* the min and max values"
|
191
|
+
# "'<'", "Callback is triggered when the distance value is smaller than the min value (max is ignored)"
|
192
|
+
# "'>'", "Callback is triggered when the distance value is greater than the min value (max is ignored)"
|
193
|
+
#
|
194
|
+
# The default value is ('x', 0, 0).
|
195
|
+
def set_distance_callback_threshold(option, min, max)
|
196
|
+
send_request(FUNCTION_SET_DISTANCE_CALLBACK_THRESHOLD, [option, min, max], 'k S S', 0, '')
|
197
|
+
end
|
198
|
+
|
199
|
+
# Returns the threshold as set by BrickletLaserRangeFinder#set_distance_callback_threshold.
|
200
|
+
def get_distance_callback_threshold
|
201
|
+
send_request(FUNCTION_GET_DISTANCE_CALLBACK_THRESHOLD, [], '', 5, 'k S S')
|
202
|
+
end
|
203
|
+
|
204
|
+
# Sets the thresholds for the CALLBACK_VELOCITY_REACHED callback.
|
205
|
+
#
|
206
|
+
# The following options are possible:
|
207
|
+
#
|
208
|
+
# "Option", "Description"
|
209
|
+
#
|
210
|
+
# "'x'", "Callback is turned off"
|
211
|
+
# "'o'", "Callback is triggered when the velocity is *outside* the min and max values"
|
212
|
+
# "'i'", "Callback is triggered when the velocity is *inside* the min and max values"
|
213
|
+
# "'<'", "Callback is triggered when the velocity is smaller than the min value (max is ignored)"
|
214
|
+
# "'>'", "Callback is triggered when the velocity is greater than the min value (max is ignored)"
|
215
|
+
#
|
216
|
+
# The default value is ('x', 0, 0).
|
217
|
+
def set_velocity_callback_threshold(option, min, max)
|
218
|
+
send_request(FUNCTION_SET_VELOCITY_CALLBACK_THRESHOLD, [option, min, max], 'k s s', 0, '')
|
219
|
+
end
|
220
|
+
|
221
|
+
# Returns the threshold as set by BrickletLaserRangeFinder#set_velocity_callback_threshold.
|
222
|
+
def get_velocity_callback_threshold
|
223
|
+
send_request(FUNCTION_GET_VELOCITY_CALLBACK_THRESHOLD, [], '', 5, 'k s s')
|
224
|
+
end
|
225
|
+
|
226
|
+
# Sets the period in ms with which the threshold callbacks
|
227
|
+
#
|
228
|
+
# * CALLBACK_DISTANCE_REACHED,
|
229
|
+
# * CALLBACK_VELOCITY_REACHED,
|
230
|
+
#
|
231
|
+
# are triggered, if the thresholds
|
232
|
+
#
|
233
|
+
# * BrickletLaserRangeFinder#set_distance_callback_threshold,
|
234
|
+
# * BrickletLaserRangeFinder#set_velocity_callback_threshold,
|
235
|
+
#
|
236
|
+
# keep being reached.
|
237
|
+
#
|
238
|
+
# The default value is 100.
|
239
|
+
def set_debounce_period(debounce)
|
240
|
+
send_request(FUNCTION_SET_DEBOUNCE_PERIOD, [debounce], 'L', 0, '')
|
241
|
+
end
|
242
|
+
|
243
|
+
# Returns the debounce period as set by BrickletLaserRangeFinder#set_debounce_period.
|
244
|
+
def get_debounce_period
|
245
|
+
send_request(FUNCTION_GET_DEBOUNCE_PERIOD, [], '', 4, 'L')
|
246
|
+
end
|
247
|
+
|
248
|
+
# Sets the length of a `moving averaging <https://en.wikipedia.org/wiki/Moving_average>`__
|
249
|
+
# for the distance and velocity.
|
250
|
+
#
|
251
|
+
# Setting the length to 0 will turn the averaging completely off. With less
|
252
|
+
# averaging, there is more noise on the data.
|
253
|
+
#
|
254
|
+
# The range for the averaging is 0-30.
|
255
|
+
#
|
256
|
+
# The default value is 10.
|
257
|
+
def set_moving_average(distance_average_length, velocity_average_length)
|
258
|
+
send_request(FUNCTION_SET_MOVING_AVERAGE, [distance_average_length, velocity_average_length], 'C C', 0, '')
|
259
|
+
end
|
260
|
+
|
261
|
+
# Returns the length moving average as set by BrickletLaserRangeFinder#set_moving_average.
|
262
|
+
def get_moving_average
|
263
|
+
send_request(FUNCTION_GET_MOVING_AVERAGE, [], '', 2, 'C C')
|
264
|
+
end
|
265
|
+
|
266
|
+
# The LIDAR has five different modes. One mode is for distance
|
267
|
+
# measurements and four modes are for velocity measurements with
|
268
|
+
# different ranges.
|
269
|
+
#
|
270
|
+
# The following modes are available:
|
271
|
+
#
|
272
|
+
# * 0: Distance is measured with resolution 1.0 cm and range 0-400 cm
|
273
|
+
# * 1: Velocity is measured with resolution 0.1 m/s and range is 0-12.7 m/s
|
274
|
+
# * 2: Velocity is measured with resolution 0.25 m/s and range is 0-31.75 m/s
|
275
|
+
# * 3: Velocity is measured with resolution 0.5 m/s and range is 0-63.5 m/s
|
276
|
+
# * 4: Velocity is measured with resolution 1.0 m/s and range is 0-127 m/s
|
277
|
+
#
|
278
|
+
# The default mode is 0 (distance is measured).
|
279
|
+
def set_mode(mode)
|
280
|
+
send_request(FUNCTION_SET_MODE, [mode], 'C', 0, '')
|
281
|
+
end
|
282
|
+
|
283
|
+
# Returns the mode as set by BrickletLaserRangeFinder#set_mode.
|
284
|
+
def get_mode
|
285
|
+
send_request(FUNCTION_GET_MODE, [], '', 1, 'C')
|
286
|
+
end
|
287
|
+
|
288
|
+
# Activates the laser of the LIDAR.
|
289
|
+
#
|
290
|
+
# We recommend that you wait 250ms after enabling the laser before
|
291
|
+
# the first call of BrickletLaserRangeFinder#get_distance to ensure stable measurements.
|
292
|
+
def enable_laser
|
293
|
+
send_request(FUNCTION_ENABLE_LASER, [], '', 0, '')
|
294
|
+
end
|
295
|
+
|
296
|
+
# Deactivates the laser of the LIDAR.
|
297
|
+
def disable_laser
|
298
|
+
send_request(FUNCTION_DISABLE_LASER, [], '', 0, '')
|
299
|
+
end
|
300
|
+
|
301
|
+
# Returns *true* if the laser is enabled, *false* otherwise.
|
302
|
+
def is_laser_enabled
|
303
|
+
send_request(FUNCTION_IS_LASER_ENABLED, [], '', 1, '?')
|
304
|
+
end
|
305
|
+
|
306
|
+
# Returns the UID, the UID where the Bricklet is connected to,
|
307
|
+
# the position, the hardware and firmware version as well as the
|
308
|
+
# device identifier.
|
309
|
+
#
|
310
|
+
# The position can be 'a', 'b', 'c' or 'd'.
|
311
|
+
#
|
312
|
+
# The device identifier numbers can be found :ref:`here <device_identifier>`.
|
313
|
+
# |device_identifier_constant|
|
314
|
+
def get_identity
|
315
|
+
send_request(FUNCTION_GET_IDENTITY, [], '', 25, 'Z8 Z8 k C3 C3 S')
|
316
|
+
end
|
317
|
+
|
318
|
+
# Registers a callback with ID <tt>id</tt> to the block <tt>block</tt>.
|
319
|
+
def register_callback(id, &block)
|
320
|
+
callback = block
|
321
|
+
@registered_callbacks[id] = callback
|
322
|
+
end
|
323
|
+
end
|
324
|
+
end
|