openHAB - Laser Range Finder Bricklet¶

Thing¶

UID:	tinkerforge:brickletlaserrangefinder:[UID]
Required firmware version:	2.0.3
Firmware update supported:	yes
Channels:	Distance Velocity Laser
Actions:	GetDistance GetVelocity GetMode EnableLaser DisableLaser IsLaserEnabled GetConfiguration GetMovingAverage GetSensorHardwareVersion GetIdentity
Parameters:	Distance Moving Average Length – Type: integer, Default: 10, Min: 0, Max: 30 The length of a moving averaging for the distance. Velocity Moving Average Length – Type: integer, Default: 10, Min: 0, Max: 30 The length of a moving averaging for the velocity. Mode – Type: Choice, Default: Distance 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 This setting will be ignored if you have a LIDAR-Lite sensor with hardware version 3. Options: Distance, Velocity Max 13m/s, Velocity Max 32m/s, Velocity Max 64m/s, Velocity Max 127m/s Acquisition Count – Type: integer, Default: 128, Min: 1, Max: 255 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. This setting will be ignored if you have a LIDAR-Lite sensor with hardware version 1. Quick Termination – Type: boolean, Default: false If you enable Quick Termination, 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. This setting will be ignored if you have a LIDAR-Lite sensor with hardware version 1. Threshold Value – Type: integer, Default: 0, Min: 0, Max: 255 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. This setting will be ignored if you have a LIDAR-Lite sensor with hardware version 1. Fixed Measurement Frequency – Type: boolean, Default: false For a stable velocity measurement you should set a fixed measurement frequency. See Measurement Frequency for details. This setting will be ignored if you have a LIDAR-Lite sensor with hardware version 1. Measurement Frequency – Type: integer, Default: 10, Min: 10, Max: 500 If the fixed measurement frequency is enabled, the measurement frequency is forced to this value. If it is disabled, 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. This setting will be ignored if you have a LIDAR-Lite sensor with hardware version 1.

Channels¶

Distance¶

The measured distance. Sensor hardware version 1 cannot measure distance and velocity at the same time. Therefore, the distance mode has to be enabled. Sensor hardware version 3 can measure distance and velocity at the same time. In both cases the laser has to be enabled.

Type:	Number:Length
UID:	tinkerforge:brickletlaserrangefinder:[UID]:BrickletLaserRangeFinderDistance
Read only:	Yes
Predicate:	This channel will only be available if the sensor has a hardware version of 3 or the mode is Distance
Unit:	Meter
Range:	0 Meter to 40 Meter (Step 0.01 Meter)
Parameters:	Update Interval – Type: integer, Default: 1000, Unit: ms, Min: 0, Max: 4294967295 Specifies the update interval in milliseconds. A value of 0 disables automatic updates.

Velocity¶

The measured velocity. Sensor hardware version 1 cannot measure distance and velocity at the same time. Therefore, the velocity mode has to be enabled. 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 frequency is configured. Also the laser has to be enabled.

Type:	Number:Speed
UID:	tinkerforge:brickletlaserrangefinder:[UID]:BrickletLaserRangeFinderVelocity
Read only:	Yes
Predicate:	This channel will only be available if the sensor has a hardware version of 3 or the mode is not Distance
Unit:	Meter Per Second
Range:	-128 Meter Per Second to 127 Meter Per Second (Step 0.01 Meter Per Second)
Parameters:	Update Interval – Type: integer, Default: 1000, Unit: ms, Min: 0, Max: 4294967295 Specifies the update interval in milliseconds. A value of 0 disables automatic updates.

Laser¶

Activates/Deactivates the laser of the LIDAR.

Type:	Switch
UID:	tinkerforge:brickletlaserrangefinder:[UID]:BrickletLaserRangeFinderLaser
Read only:	No

Actions¶

Actions can be used in rules by creating an action object. All actions return a Map<String, Object>. Returned values can be accessed by name, sometimes the type deduction needs some hints, as shown below:

val actions = getActions("tinkerforge", "tinkerforge:brickletlaserrangefinder:[UID]")
val hwVersion = actions.brickletLaserRangeFinderGetIdentity().get("hardwareVersion") as short[]
logInfo("Example", "Hardware version: " + hwVersion.get(0) + "." + hwVersion.get(1) + "." + hwVersion.get(2))