Class: Tinkerforge::BrickletDistanceUS

Inherits:
Device
  • Object
show all
Defined in:
lib/tinkerforge/bricklet_distance_us.rb

Overview

Measures distance between 2cm and 400cm with ultrasound

Constant Summary collapse

DEVICE_IDENTIFIER =

:nodoc:

229
DEVICE_DISPLAY_NAME =

:nodoc:

'Distance US Bricklet'
CALLBACK_DISTANCE =

This callback is triggered periodically with the period that is set by BrickletDistanceUS#set_distance_callback_period. The parameter is the distance value of the sensor.

CALLBACK_DISTANCE is only triggered if the distance value has changed since the last triggering.

8
CALLBACK_DISTANCE_REACHED =

This callback is triggered when the threshold as set by BrickletDistanceUS#set_distance_callback_threshold is reached. The parameter is the distance value of the sensor.

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

9
FUNCTION_GET_DISTANCE_VALUE =

:nodoc:

1
FUNCTION_SET_DISTANCE_CALLBACK_PERIOD =

:nodoc:

2
FUNCTION_GET_DISTANCE_CALLBACK_PERIOD =

:nodoc:

3
FUNCTION_SET_DISTANCE_CALLBACK_THRESHOLD =

:nodoc:

4
FUNCTION_GET_DISTANCE_CALLBACK_THRESHOLD =

:nodoc:

5
FUNCTION_SET_DEBOUNCE_PERIOD =

:nodoc:

6
FUNCTION_GET_DEBOUNCE_PERIOD =

:nodoc:

7
FUNCTION_SET_MOVING_AVERAGE =

:nodoc:

10
FUNCTION_GET_MOVING_AVERAGE =

:nodoc:

11
FUNCTION_GET_IDENTITY =

:nodoc:

255
THRESHOLD_OPTION_OFF =

:nodoc:

'x'
THRESHOLD_OPTION_OUTSIDE =

:nodoc:

'o'
THRESHOLD_OPTION_INSIDE =

:nodoc:

'i'
THRESHOLD_OPTION_SMALLER =

:nodoc:

'<'
THRESHOLD_OPTION_GREATER =

:nodoc:

'>'

Constants inherited from Device

Device::RESPONSE_EXPECTED_ALWAYS_FALSE, Device::RESPONSE_EXPECTED_ALWAYS_TRUE, Device::RESPONSE_EXPECTED_FALSE, Device::RESPONSE_EXPECTED_INVALID_FUNCTION_ID, Device::RESPONSE_EXPECTED_TRUE

Instance Attribute Summary

Attributes inherited from Device

#callback_formats, #expected_response_function_id, #expected_response_sequence_number, #registered_callbacks, #uid

Instance Method Summary collapse

Methods inherited from Device

#dequeue_response, #enqueue_response, #get_api_version, #get_response_expected, #send_request, #set_response_expected, #set_response_expected_all

Constructor Details

#initialize(uid, ipcon) ⇒ BrickletDistanceUS

Creates an object with the unique device ID uid and adds it to the IP Connection ipcon.



53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
 
# File 'lib/tinkerforge/bricklet_distance_us.rb', line 53

def initialize(uid, ipcon)
  super uid, ipcon

  @api_version = [2, 0, 1]

  @response_expected[FUNCTION_GET_DISTANCE_VALUE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_DISTANCE_CALLBACK_PERIOD] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_DISTANCE_CALLBACK_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_DISTANCE_CALLBACK_THRESHOLD] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_DISTANCE_CALLBACK_THRESHOLD] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_DEBOUNCE_PERIOD] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_DEBOUNCE_PERIOD] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[CALLBACK_DISTANCE] = RESPONSE_EXPECTED_ALWAYS_FALSE
  @response_expected[CALLBACK_DISTANCE_REACHED] = RESPONSE_EXPECTED_ALWAYS_FALSE
  @response_expected[FUNCTION_SET_MOVING_AVERAGE] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_MOVING_AVERAGE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_IDENTITY] = RESPONSE_EXPECTED_ALWAYS_TRUE

  @callback_formats[CALLBACK_DISTANCE] = 'S'
  @callback_formats[CALLBACK_DISTANCE_REACHED] = 'S'
end

Instance Method Details

#get_debounce_period ⇒ Object

Returns the debounce period as set by BrickletDistanceUS#set_debounce_period.



143
144
145
 
# File 'lib/tinkerforge/bricklet_distance_us.rb', line 143

def get_debounce_period
  send_request(FUNCTION_GET_DEBOUNCE_PERIOD, [], '', 4, 'L')
end

#get_distance_callback_period ⇒ Object

Returns the period as set by BrickletDistanceUS#set_distance_callback_period.



101
102
103
 
# File 'lib/tinkerforge/bricklet_distance_us.rb', line 101

def get_distance_callback_period
  send_request(FUNCTION_GET_DISTANCE_CALLBACK_PERIOD, [], '', 4, 'L')
end

#get_distance_callback_threshold ⇒ Object

Returns the threshold as set by BrickletDistanceUS#set_distance_callback_threshold.



123
124
125
 
# File 'lib/tinkerforge/bricklet_distance_us.rb', line 123

def get_distance_callback_threshold
  send_request(FUNCTION_GET_DISTANCE_CALLBACK_THRESHOLD, [], '', 5, 'k S S')
end

#get_distance_value ⇒ Object

Returns the current distance value measured by the sensor. The value has a range of 0 to 4095. A small value corresponds to a small distance, a big value corresponds to a big distance. The relation between the measured distance value and the actual distance is affected by the 5V supply voltage (deviations in the supply voltage result in deviations in the distance values) and is non-linear (resolution is bigger at close range).

If you want to get the distance value periodically, it is recommended to use the callback CALLBACK_DISTANCE and set the period with BrickletDistanceUS#set_distance_callback_period.



85
86
87
 
# File 'lib/tinkerforge/bricklet_distance_us.rb', line 85

def get_distance_value
  send_request(FUNCTION_GET_DISTANCE_VALUE, [], '', 2, 'S')
end

#get_identity ⇒ Object

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 :ref:‘here <device_identifier>`. |device_identifier_constant|



173
174
175
 
# File 'lib/tinkerforge/bricklet_distance_us.rb', line 173

def get_identity
  send_request(FUNCTION_GET_IDENTITY, [], '', 25, 'Z8 Z8 k C3 C3 S')
end

#get_moving_average ⇒ Object

Returns the length moving average as set by BrickletDistanceUS#set_moving_average.



161
162
163
 
# File 'lib/tinkerforge/bricklet_distance_us.rb', line 161

def get_moving_average
  send_request(FUNCTION_GET_MOVING_AVERAGE, [], '', 1, 'C')
end

#register_callback(id, &block) ⇒ Object

Registers a callback with ID id to the block block.



178
179
180
181
 
# File 'lib/tinkerforge/bricklet_distance_us.rb', line 178

def register_callback(id, &block)
  callback = block
  @registered_callbacks[id] = callback
end

#set_debounce_period(debounce) ⇒ Object

Sets the period in ms with which the threshold callbacks

  • CALLBACK_DISTANCE_REACHED,

are triggered, if the thresholds

  • BrickletDistanceUS#set_distance_callback_threshold,

keep being reached.

The default value is 100.



138
139
140
 
# File 'lib/tinkerforge/bricklet_distance_us.rb', line 138

def set_debounce_period(debounce)
  send_request(FUNCTION_SET_DEBOUNCE_PERIOD, [debounce], 'L', 0, '')
end

#set_distance_callback_period(period) ⇒ Object

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

CALLBACK_DISTANCE is only triggered if the distance value has changed since the last triggering.

The default value is 0.



96
97
98
 
# File 'lib/tinkerforge/bricklet_distance_us.rb', line 96

def set_distance_callback_period(period)
  send_request(FUNCTION_SET_DISTANCE_CALLBACK_PERIOD, [period], 'L', 0, '')
end

#set_distance_callback_threshold(option, min, max) ⇒ Object

Sets the thresholds for the CALLBACK_DISTANCE_REACHED callback.

The following options are possible:

"Option", "Description"

"'x'",    "Callback is turned off"
"'o'",    "Callback is triggered when the distance value is *outside* the min and max values"
"'i'",    "Callback is triggered when the distance value is *inside* the min and max values"
"'<'",    "Callback is triggered when the distance value is smaller than the min value (max is ignored)"
"'>'",    "Callback is triggered when the distance value is greater than the min value (max is ignored)"

The default value is (‘x’, 0, 0).



118
119
120
 
# File 'lib/tinkerforge/bricklet_distance_us.rb', line 118

def set_distance_callback_threshold(option, min, max)
  send_request(FUNCTION_SET_DISTANCE_CALLBACK_THRESHOLD, [option, min, max], 'k S S', 0, '')
end

#set_moving_average(average) ⇒ Object

Sets the length of a ‘moving averaging <en.wikipedia.org/wiki/Moving_average>`__ for the distance value.

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 0-100.

The default value is 20.



156
157
158
 
# File 'lib/tinkerforge/bricklet_distance_us.rb', line 156

def set_moving_average(average)
  send_request(FUNCTION_SET_MOVING_AVERAGE, [average], 'C', 0, '')
end