Class: Tinkerforge::BrickletLaserRangeFinderV2

Inherits:
Device
  • Object
show all
Defined in:
lib/tinkerforge/bricklet_laser_range_finder_v2.rb

Overview

Measures distance up to 40m with laser light

Constant Summary collapse

DEVICE_IDENTIFIER =

:nodoc:

2144
DEVICE_DISPLAY_NAME =

:nodoc:

'Laser Range Finder Bricklet 2.0'
CALLBACK_DISTANCE =

This callback is triggered periodically according to the configuration set by BrickletLaserRangeFinderV2#set_distance_callback_configuration.

The parameter is the same as BrickletLaserRangeFinderV2#get_distance.

4
CALLBACK_VELOCITY =

This callback is triggered periodically according to the configuration set by BrickletLaserRangeFinderV2#set_velocity_callback_configuration.

The parameter is the same as BrickletLaserRangeFinderV2#get_velocity.

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FUNCTION_GET_DISTANCE =

:nodoc:

1
FUNCTION_SET_DISTANCE_CALLBACK_CONFIGURATION =

:nodoc:

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FUNCTION_GET_DISTANCE_CALLBACK_CONFIGURATION =

:nodoc:

3
FUNCTION_GET_VELOCITY =

:nodoc:

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FUNCTION_SET_VELOCITY_CALLBACK_CONFIGURATION =

:nodoc:

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FUNCTION_GET_VELOCITY_CALLBACK_CONFIGURATION =

:nodoc:

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FUNCTION_SET_ENABLE =

:nodoc:

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FUNCTION_GET_ENABLE =

:nodoc:

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FUNCTION_SET_CONFIGURATION =

:nodoc:

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FUNCTION_GET_CONFIGURATION =

:nodoc:

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FUNCTION_SET_MOVING_AVERAGE =

:nodoc:

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FUNCTION_GET_MOVING_AVERAGE =

:nodoc:

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FUNCTION_SET_OFFSET_CALIBRATION =

:nodoc:

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FUNCTION_GET_OFFSET_CALIBRATION =

:nodoc:

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FUNCTION_SET_DISTANCE_LED_CONFIG =

:nodoc:

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FUNCTION_GET_DISTANCE_LED_CONFIG =

:nodoc:

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FUNCTION_GET_SPITFP_ERROR_COUNT =

:nodoc:

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FUNCTION_SET_BOOTLOADER_MODE =

:nodoc:

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FUNCTION_GET_BOOTLOADER_MODE =

:nodoc:

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FUNCTION_SET_WRITE_FIRMWARE_POINTER =

:nodoc:

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FUNCTION_WRITE_FIRMWARE =

:nodoc:

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FUNCTION_SET_STATUS_LED_CONFIG =

:nodoc:

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FUNCTION_GET_STATUS_LED_CONFIG =

:nodoc:

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FUNCTION_GET_CHIP_TEMPERATURE =

:nodoc:

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FUNCTION_RESET =

:nodoc:

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FUNCTION_WRITE_UID =

:nodoc:

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FUNCTION_READ_UID =

:nodoc:

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FUNCTION_GET_IDENTITY =

:nodoc:

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THRESHOLD_OPTION_OFF =

:nodoc:

'x'
THRESHOLD_OPTION_OUTSIDE =

:nodoc:

'o'
THRESHOLD_OPTION_INSIDE =

:nodoc:

'i'
THRESHOLD_OPTION_SMALLER =

:nodoc:

'<'
THRESHOLD_OPTION_GREATER =

:nodoc:

'>'
DISTANCE_LED_CONFIG_OFF =

:nodoc:

0
DISTANCE_LED_CONFIG_ON =

:nodoc:

1
DISTANCE_LED_CONFIG_SHOW_HEARTBEAT =

:nodoc:

2
DISTANCE_LED_CONFIG_SHOW_DISTANCE =

:nodoc:

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BOOTLOADER_MODE_BOOTLOADER =

:nodoc:

0
BOOTLOADER_MODE_FIRMWARE =

:nodoc:

1
BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT =

:nodoc:

2
BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT =

:nodoc:

3
BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT =

:nodoc:

4
BOOTLOADER_STATUS_OK =

:nodoc:

0
BOOTLOADER_STATUS_INVALID_MODE =

:nodoc:

1
BOOTLOADER_STATUS_NO_CHANGE =

:nodoc:

2
BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT =

:nodoc:

3
BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT =

:nodoc:

4
BOOTLOADER_STATUS_CRC_MISMATCH =

:nodoc:

5
STATUS_LED_CONFIG_OFF =

:nodoc:

0
STATUS_LED_CONFIG_ON =

:nodoc:

1
STATUS_LED_CONFIG_SHOW_HEARTBEAT =

:nodoc:

2
STATUS_LED_CONFIG_SHOW_STATUS =

:nodoc:

3

Constants inherited from Device

Device::DEVICE_IDENTIFIER_CHECK_MATCH, Device::DEVICE_IDENTIFIER_CHECK_MISMATCH, Device::DEVICE_IDENTIFIER_CHECK_PENDING, 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, #high_level_callbacks, #registered_callbacks, #replaced, #uid

Instance Method Summary collapse

Methods inherited from Device

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

Constructor Details

#initialize(uid, ipcon) ⇒ BrickletLaserRangeFinderV2

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



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# File 'lib/tinkerforge/bricklet_laser_range_finder_v2.rb', line 88

def initialize(uid, ipcon)
  super uid, ipcon, DEVICE_IDENTIFIER, DEVICE_DISPLAY_NAME

  @api_version = [2, 0, 0]

  @response_expected[FUNCTION_GET_DISTANCE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_DISTANCE_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_DISTANCE_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_VELOCITY] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_VELOCITY_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_TRUE
  @response_expected[FUNCTION_GET_VELOCITY_CALLBACK_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_ENABLE] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_ENABLE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_CONFIGURATION] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_CONFIGURATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_MOVING_AVERAGE] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_MOVING_AVERAGE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_OFFSET_CALIBRATION] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_OFFSET_CALIBRATION] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_DISTANCE_LED_CONFIG] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_DISTANCE_LED_CONFIG] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_SPITFP_ERROR_COUNT] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_BOOTLOADER_MODE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_BOOTLOADER_MODE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_WRITE_FIRMWARE_POINTER] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_WRITE_FIRMWARE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_SET_STATUS_LED_CONFIG] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_GET_STATUS_LED_CONFIG] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_CHIP_TEMPERATURE] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_RESET] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_WRITE_UID] = RESPONSE_EXPECTED_FALSE
  @response_expected[FUNCTION_READ_UID] = RESPONSE_EXPECTED_ALWAYS_TRUE
  @response_expected[FUNCTION_GET_IDENTITY] = RESPONSE_EXPECTED_ALWAYS_TRUE

  @callback_formats[CALLBACK_DISTANCE] = [10, 's']
  @callback_formats[CALLBACK_VELOCITY] = [10, 's']

  @ipcon.add_device self
end

Instance Method Details

#get_bootloader_mode ⇒ Object

Returns the current bootloader mode, see BrickletLaserRangeFinderV2#set_bootloader_mode.



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# File 'lib/tinkerforge/bricklet_laser_range_finder_v2.rb', line 380

def get_bootloader_mode
  check_validity

  send_request FUNCTION_GET_BOOTLOADER_MODE, [], '', 9, 'C'
end

#get_chip_temperature ⇒ Object

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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# File 'lib/tinkerforge/bricklet_laser_range_finder_v2.rb', line 438

def get_chip_temperature
  check_validity

  send_request FUNCTION_GET_CHIP_TEMPERATURE, [], '', 10, 's'
end

#get_configuration ⇒ Object

Returns the configuration as set by BrickletLaserRangeFinderV2#set_configuration.



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# File 'lib/tinkerforge/bricklet_laser_range_finder_v2.rb', line 286

def get_configuration
  check_validity

  send_request FUNCTION_GET_CONFIGURATION, [], '', 13, 'C ? C S'
end

#get_distance ⇒ Object

Returns the measured distance.

The laser has to be enabled, see BrickletLaserRangeFinderV2#set_enable.

If you want to get the value periodically, it is recommended to use the CALLBACK_DISTANCE callback. You can set the callback configuration with BrickletLaserRangeFinderV2#set_distance_callback_configuration.



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# File 'lib/tinkerforge/bricklet_laser_range_finder_v2.rb', line 136

def get_distance
  check_validity

  send_request FUNCTION_GET_DISTANCE, [], '', 10, 's'
end

#get_distance_callback_configuration ⇒ Object

Returns the callback configuration as set by BrickletLaserRangeFinderV2#set_distance_callback_configuration.



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# File 'lib/tinkerforge/bricklet_laser_range_finder_v2.rb', line 174

def get_distance_callback_configuration
  check_validity

  send_request FUNCTION_GET_DISTANCE_CALLBACK_CONFIGURATION, [], '', 18, 'L ? k s s'
end

#get_distance_led_config ⇒ Object

Returns the LED configuration as set by BrickletLaserRangeFinderV2#set_distance_led_config



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# File 'lib/tinkerforge/bricklet_laser_range_finder_v2.rb', line 341

def get_distance_led_config
  check_validity

  send_request FUNCTION_GET_DISTANCE_LED_CONFIG, [], '', 9, 'C'
end

#get_enable ⇒ Object

Returns the value as set by BrickletLaserRangeFinderV2#set_enable.



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# File 'lib/tinkerforge/bricklet_laser_range_finder_v2.rb', line 246

def get_enable
  check_validity

  send_request FUNCTION_GET_ENABLE, [], '', 9, '?'
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’, ‘d’, ‘e’, ‘f’, ‘g’ or ‘h’ (Bricklet Port). A Bricklet connected to an :ref:‘Isolator Bricklet <isolator_bricklet>` is always at position ’z’.

The device identifier numbers can be found :ref:‘here <device_identifier>`. |device_identifier_constant|



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# File 'lib/tinkerforge/bricklet_laser_range_finder_v2.rb', line 485

def get_identity
  send_request FUNCTION_GET_IDENTITY, [], '', 33, 'Z8 Z8 k C3 C3 S'
end

#get_moving_average ⇒ Object

Returns the length moving average as set by BrickletLaserRangeFinderV2#set_moving_average.



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# File 'lib/tinkerforge/bricklet_laser_range_finder_v2.rb', line 304

def get_moving_average
  check_validity

  send_request FUNCTION_GET_MOVING_AVERAGE, [], '', 10, 'C C'
end

#get_offset_calibration ⇒ Object

Returns the offset value as set by BrickletLaserRangeFinderV2#set_offset_calibration.



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# File 'lib/tinkerforge/bricklet_laser_range_finder_v2.rb', line 326

def get_offset_calibration
  check_validity

  send_request FUNCTION_GET_OFFSET_CALIBRATION, [], '', 10, 's'
end

#get_spitfp_error_count ⇒ Object

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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# File 'lib/tinkerforge/bricklet_laser_range_finder_v2.rb', line 358

def get_spitfp_error_count
  check_validity

  send_request FUNCTION_GET_SPITFP_ERROR_COUNT, [], '', 24, 'L L L L'
end

#get_status_led_config ⇒ Object

Returns the configuration as set by BrickletLaserRangeFinderV2#set_status_led_config



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# File 'lib/tinkerforge/bricklet_laser_range_finder_v2.rb', line 426

def get_status_led_config
  check_validity

  send_request FUNCTION_GET_STATUS_LED_CONFIG, [], '', 9, 'C'
end

#get_velocity ⇒ Object

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 BrickletLaserRangeFinderV2#set_configuration) is configured. Also the laser has to be enabled, see BrickletLaserRangeFinderV2#set_enable.

If you want to get the value periodically, it is recommended to use the CALLBACK_VELOCITY callback. You can set the callback configuration with BrickletLaserRangeFinderV2#set_velocity_callback_configuration.



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# File 'lib/tinkerforge/bricklet_laser_range_finder_v2.rb', line 191

def get_velocity
  check_validity

  send_request FUNCTION_GET_VELOCITY, [], '', 10, 's'
end

#get_velocity_callback_configuration ⇒ Object

Returns the callback configuration as set by BrickletLaserRangeFinderV2#set_velocity_callback_configuration.



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# File 'lib/tinkerforge/bricklet_laser_range_finder_v2.rb', line 229

def get_velocity_callback_configuration
  check_validity

  send_request FUNCTION_GET_VELOCITY_CALLBACK_CONFIGURATION, [], '', 18, 'L ? k s s'
end

#read_uid ⇒ Object

Returns the current UID as an integer. Encode as Base58 to get the usual string version.



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# File 'lib/tinkerforge/bricklet_laser_range_finder_v2.rb', line 469

def read_uid
  check_validity

  send_request FUNCTION_READ_UID, [], '', 12, 'L'
end

#register_callback(id, &block) ⇒ Object

Registers a callback with ID id to the block block.



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# File 'lib/tinkerforge/bricklet_laser_range_finder_v2.rb', line 490

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

#reset ⇒ Object

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!



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# File 'lib/tinkerforge/bricklet_laser_range_finder_v2.rb', line 450

def reset
  check_validity

  send_request FUNCTION_RESET, [], '', 8, ''
end

#set_bootloader_mode(mode) ⇒ Object

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.



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# File 'lib/tinkerforge/bricklet_laser_range_finder_v2.rb', line 373

def set_bootloader_mode(mode)
  check_validity

  send_request FUNCTION_SET_BOOTLOADER_MODE, [mode], 'C', 9, 'C'
end

#set_configuration(acquisition_count, enable_quick_termination, threshold_value, measurement_frequency) ⇒ Object

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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# File 'lib/tinkerforge/bricklet_laser_range_finder_v2.rb', line 279

def set_configuration(acquisition_count, enable_quick_termination, threshold_value, measurement_frequency)
  check_validity

  send_request FUNCTION_SET_CONFIGURATION, [acquisition_count, enable_quick_termination, threshold_value, measurement_frequency], 'C ? C S', 8, ''
end

#set_distance_callback_configuration(period, value_has_to_change, option, min, max) ⇒ Object

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

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

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

It is furthermore possible to constrain the callback with thresholds.

The ‘option`-parameter together with min/max sets a threshold for the CALLBACK_DISTANCE callback.

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 callback is triggered with the fixed period.



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# File 'lib/tinkerforge/bricklet_laser_range_finder_v2.rb', line 167

def set_distance_callback_configuration(period, value_has_to_change, option, min, max)
  check_validity

  send_request FUNCTION_SET_DISTANCE_CALLBACK_CONFIGURATION, [period, value_has_to_change, option, min, max], 'L ? k s s', 8, ''
end

#set_distance_led_config(config) ⇒ Object

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



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# File 'lib/tinkerforge/bricklet_laser_range_finder_v2.rb', line 334

def set_distance_led_config(config)
  check_validity

  send_request FUNCTION_SET_DISTANCE_LED_CONFIG, [config], 'C', 8, ''
end

#set_enable(enable) ⇒ Object

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 BrickletLaserRangeFinderV2#get_distance to ensure stable measurements.



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# File 'lib/tinkerforge/bricklet_laser_range_finder_v2.rb', line 239

def set_enable(enable)
  check_validity

  send_request FUNCTION_SET_ENABLE, [enable], '?', 8, ''
end

#set_moving_average(distance_average_length, velocity_average_length) ⇒ Object

Sets the length of a ‘moving averaging <en.wikipedia.org/wiki/Moving_average>`__ 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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# File 'lib/tinkerforge/bricklet_laser_range_finder_v2.rb', line 297

def set_moving_average(distance_average_length, velocity_average_length)
  check_validity

  send_request FUNCTION_SET_MOVING_AVERAGE, [distance_average_length, velocity_average_length], 'C C', 8, ''
end

#set_offset_calibration(offset) ⇒ Object

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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# File 'lib/tinkerforge/bricklet_laser_range_finder_v2.rb', line 319

def set_offset_calibration(offset)
  check_validity

  send_request FUNCTION_SET_OFFSET_CALIBRATION, [offset], 's', 8, ''
end

#set_status_led_config(config) ⇒ Object

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.



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# File 'lib/tinkerforge/bricklet_laser_range_finder_v2.rb', line 419

def set_status_led_config(config)
  check_validity

  send_request FUNCTION_SET_STATUS_LED_CONFIG, [config], 'C', 8, ''
end

#set_velocity_callback_configuration(period, value_has_to_change, option, min, max) ⇒ Object

The period is the period with which the CALLBACK_VELOCITY callback is triggered periodically. A value of 0 turns the callback off.

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

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

It is furthermore possible to constrain the callback with thresholds.

The ‘option`-parameter together with min/max sets a threshold for the CALLBACK_VELOCITY callback.

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 callback is triggered with the fixed period.



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# File 'lib/tinkerforge/bricklet_laser_range_finder_v2.rb', line 222

def set_velocity_callback_configuration(period, value_has_to_change, option, min, max)
  check_validity

  send_request FUNCTION_SET_VELOCITY_CALLBACK_CONFIGURATION, [period, value_has_to_change, option, min, max], 'L ? k s s', 8, ''
end

#set_write_firmware_pointer(pointer) ⇒ Object

Sets the firmware pointer for BrickletLaserRangeFinderV2#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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# File 'lib/tinkerforge/bricklet_laser_range_finder_v2.rb', line 392

def set_write_firmware_pointer(pointer)
  check_validity

  send_request FUNCTION_SET_WRITE_FIRMWARE_POINTER, [pointer], 'L', 8, ''
end

#write_firmware(data) ⇒ Object

Writes 64 Bytes of firmware at the position as written by BrickletLaserRangeFinderV2#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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# File 'lib/tinkerforge/bricklet_laser_range_finder_v2.rb', line 406

def write_firmware(data)
  check_validity

  send_request FUNCTION_WRITE_FIRMWARE, [data], 'C64', 9, 'C'
end

#write_uid(uid) ⇒ Object

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.



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# File 'lib/tinkerforge/bricklet_laser_range_finder_v2.rb', line 461

def write_uid(uid)
  check_validity

  send_request FUNCTION_WRITE_UID, [uid], 'L', 8, ''
end