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C# - Distance IR Bricklet

This is the description of the C# API bindings for the Distance IR Bricklet. General information and technical specifications for the Distance IR Bricklet are summarized in its hardware description.

An installation guide for the C# API bindings is part of their general description.

Examples

The example code below is Public Domain (CC0 1.0).

Simple

Download (ExampleSimple.cs)

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using System;
using Tinkerforge;

class Example
{
    private static string HOST = "localhost";
    private static int PORT = 4223;
    private static string UID = "XYZ"; // Change XYZ to the UID of your Distance IR Bricklet

    static void Main()
    {
        IPConnection ipcon = new IPConnection(); // Create IP connection
        BrickletDistanceIR dir = new BrickletDistanceIR(UID, ipcon); // Create device object

        ipcon.Connect(HOST, PORT); // Connect to brickd
        // Don't use device before ipcon is connected

        // Get current distance
        int distance = dir.GetDistance();
        Console.WriteLine("Distance: " + distance/10.0 + " cm");

        Console.WriteLine("Press enter to exit");
        Console.ReadLine();
        ipcon.Disconnect();
    }
}

Callback

Download (ExampleCallback.cs)

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using System;
using Tinkerforge;

class Example
{
    private static string HOST = "localhost";
    private static int PORT = 4223;
    private static string UID = "XYZ"; // Change XYZ to the UID of your Distance IR Bricklet

    // Callback function for distance callback
    static void DistanceCB(BrickletDistanceIR sender, int distance)
    {
        Console.WriteLine("Distance: " + distance/10.0 + " cm");
    }

    static void Main()
    {
        IPConnection ipcon = new IPConnection(); // Create IP connection
        BrickletDistanceIR dir = new BrickletDistanceIR(UID, ipcon); // Create device object

        ipcon.Connect(HOST, PORT); // Connect to brickd
        // Don't use device before ipcon is connected

        // Register distance callback to function DistanceCB
        dir.DistanceCallback += DistanceCB;

        // Set period for distance callback to 0.2s (200ms)
        // Note: The distance callback is only called every 0.2 seconds
        //       if the distance has changed since the last call!
        dir.SetDistanceCallbackPeriod(200);

        Console.WriteLine("Press enter to exit");
        Console.ReadLine();
        ipcon.Disconnect();
    }
}

Threshold

Download (ExampleThreshold.cs)

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using System;
using Tinkerforge;

class Example
{
    private static string HOST = "localhost";
    private static int PORT = 4223;
    private static string UID = "XYZ"; // Change XYZ to the UID of your Distance IR Bricklet

    // Callback function for distance reached callback
    static void DistanceReachedCB(BrickletDistanceIR sender, int distance)
    {
        Console.WriteLine("Distance: " + distance/10.0 + " cm");
    }

    static void Main()
    {
        IPConnection ipcon = new IPConnection(); // Create IP connection
        BrickletDistanceIR dir = new BrickletDistanceIR(UID, ipcon); // Create device object

        ipcon.Connect(HOST, PORT); // Connect to brickd
        // Don't use device before ipcon is connected

        // Get threshold callbacks with a debounce time of 10 seconds (10000ms)
        dir.SetDebouncePeriod(10000);

        // Register distance reached callback to function DistanceReachedCB
        dir.DistanceReachedCallback += DistanceReachedCB;

        // Configure threshold for distance "smaller than 30 cm"
        dir.SetDistanceCallbackThreshold('<', 30*10, 0);

        Console.WriteLine("Press enter to exit");
        Console.ReadLine();
        ipcon.Disconnect();
    }
}

API

Generally, every method of the C# bindings that returns a value can throw a Tinkerforge.TimeoutException. This exception gets thrown if the device did not respond. If a cable based connection is used, it is unlikely that this exception gets thrown (assuming nobody plugs the device out). However, if a wireless connection is used, timeouts will occur if the distance to the device gets too big.

Since C# does not support multiple return values directly, we use the out keyword to return multiple values from a method.

The namespace for all Brick/Bricklet bindings and the IPConnection is Tinkerforge.*.

All methods listed below are thread-safe.

Basic Functions

class BrickletDistanceIR(string uid, IPConnection ipcon)
Parameters:
  • uid – Type: string
  • ipcon – Type: IPConnection
Returns:
  • distanceIR – Type: BrickletDistanceIR

Creates an object with the unique device ID uid:

BrickletDistanceIR distanceIR = new BrickletDistanceIR("YOUR_DEVICE_UID", ipcon);

This object can then be used after the IP Connection is connected.

int BrickletDistanceIR.GetDistance()
Returns:
  • distance – Type: int, Unit: 1 mm, Range: [0 to 216 - 1]

Returns the distance measured by the sensor. Possible distance ranges are 40 to 300, 100 to 800 and 200 to 1500, depending on the selected IR sensor.

If you want to get the distance periodically, it is recommended to use the DistanceCallback callback and set the period with SetDistanceCallbackPeriod().

Advanced Functions

int BrickletDistanceIR.GetAnalogValue()
Returns:
  • value – Type: int, Range: [0 to 212 - 1]

Returns the value as read by a 12-bit analog-to-digital converter.

Note

The value returned by GetDistance() is averaged over several samples to yield less noise, while GetAnalogValue() gives back raw unfiltered analog values. The only reason to use GetAnalogValue() is, if you need the full resolution of the analog-to-digital converter.

If you want the analog value periodically, it is recommended to use the AnalogValueCallback callback and set the period with SetAnalogValueCallbackPeriod().

void BrickletDistanceIR.SetSamplingPoint(byte position, int distance)
Parameters:
  • position – Type: byte, Range: [0 to 127]
  • distance – Type: int, Unit: 1/10 mm, Range: [0 to 216 - 1]

Sets a sampling point value to a specific position of the lookup table. The lookup table comprises 128 equidistant analog values with corresponding distances.

If you measure a distance of 50cm at the analog value 2048, you should call this function with (64, 5000). The utilized analog-to-digital converter has a resolution of 12 bit. With 128 sampling points on the whole range, this means that every sampling point has a size of 32 analog values. Thus the analog value 2048 has the corresponding sampling point 64 = 2048/32.

Sampling points are saved on the EEPROM of the Distance IR Bricklet and loaded again on startup.

Note

An easy way to calibrate the sampling points of the Distance IR Bricklet is implemented in the Brick Viewer. If you want to calibrate your Bricklet it is highly recommended to use this implementation.

int BrickletDistanceIR.GetSamplingPoint(byte position)
Parameters:
  • position – Type: byte, Range: [0 to 127]
Returns:
  • distance – Type: int, Unit: 1/10 mm, Range: [0 to 216 - 1]

Returns the distance to a sampling point position as set by SetSamplingPoint().

void BrickletDistanceIR.GetIdentity(out string uid, out string connectedUid, out char position, out byte[] hardwareVersion, out byte[] firmwareVersion, out int deviceIdentifier)
Output Parameters:
  • uid – Type: string, Length: up to 8
  • connectedUid – Type: string, Length: up to 8
  • position – Type: char, Range: ['a' to 'h', 'z']
  • hardwareVersion – Type: byte[], Length: 3
    • 0: major – Type: byte, Range: [0 to 255]
    • 1: minor – Type: byte, Range: [0 to 255]
    • 2: revision – Type: byte, Range: [0 to 255]
  • firmwareVersion – Type: byte[], Length: 3
    • 0: major – Type: byte, Range: [0 to 255]
    • 1: minor – Type: byte, Range: [0 to 255]
    • 2: revision – Type: byte, Range: [0 to 255]
  • deviceIdentifier – Type: int, Range: [0 to 216 - 1]

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 Isolator Bricklet is always at position 'z'.

The device identifier numbers can be found here. There is also a constant for the device identifier of this Bricklet.

Callback Configuration Functions

void BrickletDistanceIR.SetDistanceCallbackPeriod(long period)
Parameters:
  • period – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

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

The DistanceCallback callback is only triggered if the distance has changed since the last triggering.

long BrickletDistanceIR.GetDistanceCallbackPeriod()
Returns:
  • period – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Returns the period as set by SetDistanceCallbackPeriod().

void BrickletDistanceIR.SetAnalogValueCallbackPeriod(long period)
Parameters:
  • period – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

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

The AnalogValueCallback callback is only triggered if the analog value has changed since the last triggering.

long BrickletDistanceIR.GetAnalogValueCallbackPeriod()
Returns:
  • period – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Returns the period as set by SetAnalogValueCallbackPeriod().

void BrickletDistanceIR.SetDistanceCallbackThreshold(char option, int min, int max)
Parameters:
  • option – Type: char, Range: See constants, Default: 'x'
  • min – Type: int, Unit: 1 mm, Range: [0 to 216 - 1], Default: 0
  • max – Type: int, Unit: 1 mm, Range: [0 to 216 - 1], Default: 0

Sets the thresholds for the DistanceReachedCallback callback.

The following options are possible:

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

The following constants are available for this function:

For option:

  • BrickletDistanceIR.THRESHOLD_OPTION_OFF = 'x'
  • BrickletDistanceIR.THRESHOLD_OPTION_OUTSIDE = 'o'
  • BrickletDistanceIR.THRESHOLD_OPTION_INSIDE = 'i'
  • BrickletDistanceIR.THRESHOLD_OPTION_SMALLER = '<'
  • BrickletDistanceIR.THRESHOLD_OPTION_GREATER = '>'
void BrickletDistanceIR.GetDistanceCallbackThreshold(out char option, out int min, out int max)
Output Parameters:
  • option – Type: char, Range: See constants, Default: 'x'
  • min – Type: int, Unit: 1 mm, Range: [0 to 216 - 1], Default: 0
  • max – Type: int, Unit: 1 mm, Range: [0 to 216 - 1], Default: 0

Returns the threshold as set by SetDistanceCallbackThreshold().

The following constants are available for this function:

For option:

  • BrickletDistanceIR.THRESHOLD_OPTION_OFF = 'x'
  • BrickletDistanceIR.THRESHOLD_OPTION_OUTSIDE = 'o'
  • BrickletDistanceIR.THRESHOLD_OPTION_INSIDE = 'i'
  • BrickletDistanceIR.THRESHOLD_OPTION_SMALLER = '<'
  • BrickletDistanceIR.THRESHOLD_OPTION_GREATER = '>'
void BrickletDistanceIR.SetAnalogValueCallbackThreshold(char option, int min, int max)
Parameters:
  • option – Type: char, Range: See constants, Default: 'x'
  • min – Type: int, Range: [0 to 216 - 1], Default: 0
  • max – Type: int, Range: [0 to 216 - 1], Default: 0

Sets the thresholds for the AnalogValueReachedCallback callback.

The following options are possible:

Option Description
'x' Callback is turned off
'o' Callback is triggered when the analog value is outside the min and max values
'i' Callback is triggered when the analog value is inside the min and max values
'<' Callback is triggered when the analog value is smaller than the min value (max is ignored)
'>' Callback is triggered when the analog value is greater than the min value (max is ignored)

The following constants are available for this function:

For option:

  • BrickletDistanceIR.THRESHOLD_OPTION_OFF = 'x'
  • BrickletDistanceIR.THRESHOLD_OPTION_OUTSIDE = 'o'
  • BrickletDistanceIR.THRESHOLD_OPTION_INSIDE = 'i'
  • BrickletDistanceIR.THRESHOLD_OPTION_SMALLER = '<'
  • BrickletDistanceIR.THRESHOLD_OPTION_GREATER = '>'
void BrickletDistanceIR.GetAnalogValueCallbackThreshold(out char option, out int min, out int max)
Output Parameters:
  • option – Type: char, Range: See constants, Default: 'x'
  • min – Type: int, Range: [0 to 216 - 1], Default: 0
  • max – Type: int, Range: [0 to 216 - 1], Default: 0

Returns the threshold as set by SetAnalogValueCallbackThreshold().

The following constants are available for this function:

For option:

  • BrickletDistanceIR.THRESHOLD_OPTION_OFF = 'x'
  • BrickletDistanceIR.THRESHOLD_OPTION_OUTSIDE = 'o'
  • BrickletDistanceIR.THRESHOLD_OPTION_INSIDE = 'i'
  • BrickletDistanceIR.THRESHOLD_OPTION_SMALLER = '<'
  • BrickletDistanceIR.THRESHOLD_OPTION_GREATER = '>'
void BrickletDistanceIR.SetDebouncePeriod(long debounce)
Parameters:
  • debounce – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 100

Sets the period with which the threshold callbacks

are triggered, if the thresholds

keep being reached.

long BrickletDistanceIR.GetDebouncePeriod()
Returns:
  • debounce – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 100

Returns the debounce period as set by SetDebouncePeriod().

Callbacks

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done by appending your callback handler to the corresponding event:

void MyCallback(BrickletDistanceIR sender, int value)
{
    System.Console.WriteLine("Value: " + value);
}

distanceIR.ExampleCallback += MyCallback;

The available events are described below.

Note

Using callbacks for recurring events is always preferred compared to using getters. It will use less USB bandwidth and the latency will be a lot better, since there is no round trip time.

event BrickletDistanceIR.DistanceCallback(BrickletDistanceIR sender, int distance)
Callback Parameters:
  • sender – Type: BrickletDistanceIR
  • distance – Type: int, Unit: 1 mm, Range: [0 to 216 - 1]

This callback is triggered periodically with the period that is set by SetDistanceCallbackPeriod(). The parameter is the distance of the sensor.

The DistanceCallback callback is only triggered if the distance has changed since the last triggering.

event BrickletDistanceIR.AnalogValueCallback(BrickletDistanceIR sender, int value)
Callback Parameters:
  • sender – Type: BrickletDistanceIR
  • value – Type: int, Range: [0 to 212 - 1]

This callback is triggered periodically with the period that is set by SetAnalogValueCallbackPeriod(). The parameter is the analog value of the sensor.

The AnalogValueCallback callback is only triggered if the analog value has changed since the last triggering.

event BrickletDistanceIR.DistanceReachedCallback(BrickletDistanceIR sender, int distance)
Callback Parameters:
  • sender – Type: BrickletDistanceIR
  • distance – Type: int, Unit: 1 mm, Range: [0 to 216 - 1]

This callback is triggered when the threshold as set by SetDistanceCallbackThreshold() is reached. The parameter is the distance of the sensor.

If the threshold keeps being reached, the callback is triggered periodically with the period as set by SetDebouncePeriod().

event BrickletDistanceIR.AnalogValueReachedCallback(BrickletDistanceIR sender, int value)
Callback Parameters:
  • sender – Type: BrickletDistanceIR
  • value – Type: int, Range: [0 to 212 - 1]

This callback is triggered when the threshold as set by SetAnalogValueCallbackThreshold() is reached. The parameter is the analog value of the sensor.

If the threshold keeps being reached, the callback is triggered periodically with the period as set by SetDebouncePeriod().

Virtual Functions

Virtual functions don't communicate with the device itself, but operate only on the API bindings device object. They can be called without the corresponding IP Connection object being connected.

byte[] BrickletDistanceIR.GetAPIVersion()
Output Parameters:
  • apiVersion – Type: byte[], Length: 3
    • 0: major – Type: byte, Range: [0 to 255]
    • 1: minor – Type: byte, Range: [0 to 255]
    • 2: revision – Type: byte, Range: [0 to 255]

Returns the version of the API definition implemented by this API bindings. This is neither the release version of this API bindings nor does it tell you anything about the represented Brick or Bricklet.

bool BrickletDistanceIR.GetResponseExpected(byte functionId)
Parameters:
  • functionId – Type: byte, Range: See constants
Returns:
  • responseExpected – Type: bool

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 SetResponseExpected(). 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 sent and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For functionId:

  • BrickletDistanceIR.FUNCTION_SET_SAMPLING_POINT = 3
  • BrickletDistanceIR.FUNCTION_SET_DISTANCE_CALLBACK_PERIOD = 5
  • BrickletDistanceIR.FUNCTION_SET_ANALOG_VALUE_CALLBACK_PERIOD = 7
  • BrickletDistanceIR.FUNCTION_SET_DISTANCE_CALLBACK_THRESHOLD = 9
  • BrickletDistanceIR.FUNCTION_SET_ANALOG_VALUE_CALLBACK_THRESHOLD = 11
  • BrickletDistanceIR.FUNCTION_SET_DEBOUNCE_PERIOD = 13
void BrickletDistanceIR.SetResponseExpected(byte functionId, bool responseExpected)
Parameters:
  • functionId – Type: byte, Range: See constants
  • responseExpected – Type: bool

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 sent and errors are silently ignored, because they cannot be detected.

The following constants are available for this function:

For functionId:

  • BrickletDistanceIR.FUNCTION_SET_SAMPLING_POINT = 3
  • BrickletDistanceIR.FUNCTION_SET_DISTANCE_CALLBACK_PERIOD = 5
  • BrickletDistanceIR.FUNCTION_SET_ANALOG_VALUE_CALLBACK_PERIOD = 7
  • BrickletDistanceIR.FUNCTION_SET_DISTANCE_CALLBACK_THRESHOLD = 9
  • BrickletDistanceIR.FUNCTION_SET_ANALOG_VALUE_CALLBACK_THRESHOLD = 11
  • BrickletDistanceIR.FUNCTION_SET_DEBOUNCE_PERIOD = 13
void BrickletDistanceIR.SetResponseExpectedAll(bool responseExpected)
Parameters:
  • responseExpected – Type: bool

Changes the response expected flag for all setter and callback configuration functions of this device at once.

Constants

int BrickletDistanceIR.DEVICE_IDENTIFIER

This constant is used to identify a Distance IR Bricklet.

The GetIdentity() function and the IPConnection.EnumerateCallback callback of the IP Connection have a deviceIdentifier parameter to specify the Brick's or Bricklet's type.

string BrickletDistanceIR.DEVICE_DISPLAY_NAME

This constant represents the human readable name of a Distance IR Bricklet.