C# - Distance US Bricklet¶

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 US Bricklet

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

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

        // Get current distance value
        int distance = dus.GetDistanceValue();
        Console.WriteLine("Distance Value: " + distance);

        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 US Bricklet

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

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

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

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

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

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

    static void Main()
    {
        IPConnection ipcon = new IPConnection(); // Create IP connection
        BrickletDistanceUS dus = new BrickletDistanceUS(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)
        dus.SetDebouncePeriod(10000);

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

        // Configure threshold for distance value "smaller than 200"
        dus.SetDistanceCallbackThreshold('<', 200, 0);

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

Basic Functions¶

class BrickletDistanceUS(string uid, IPConnection ipcon)¶

Parameters:	uid – Type: string ipcon – Type: IPConnection
Returns:	distanceUS – Type: BrickletDistanceUS

Creates an object with the unique device ID uid:

BrickletDistanceUS distanceUS = new BrickletDistanceUS("YOUR_DEVICE_UID", ipcon);

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

int BrickletDistanceUS.GetDistanceValue()¶

Returns:	distance – Type: int, Range: [0 to 212 - 1]

Returns the current distance value measured by the sensor. 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 DistanceCallback callback and set the period with SetDistanceCallbackPeriod().

Advanced Functions¶

void BrickletDistanceUS.SetMovingAverage(byte average)¶

Parameters:	average – Type: byte, Range: [0 to 100], Default: 20

Sets the length of a moving averaging 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.

byte BrickletDistanceUS.GetMovingAverage()¶

Returns:	average – Type: byte, Range: [0 to 100], Default: 20

Returns the length moving average as set by SetMovingAverage().

void BrickletDistanceUS.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 BrickletDistanceUS.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.

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

long BrickletDistanceUS.GetDistanceCallbackPeriod()¶

Returns:	period – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0

Returns the period as set by SetDistanceCallbackPeriod().

void BrickletDistanceUS.SetDistanceCallbackThreshold(char option, int min, int max)¶

Parameters:	option – Type: char, Range: See constants, Default: 'x' min – Type: int, Range: [0 to 212 - 1] max – Type: int, Range: [0 to 212 - 1]

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 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 following constants are available for this function:

For option:

• BrickletDistanceUS.THRESHOLD_OPTION_OFF = 'x'
• BrickletDistanceUS.THRESHOLD_OPTION_OUTSIDE = 'o'
• BrickletDistanceUS.THRESHOLD_OPTION_INSIDE = 'i'
• BrickletDistanceUS.THRESHOLD_OPTION_SMALLER = '<'
• BrickletDistanceUS.THRESHOLD_OPTION_GREATER = '>'

void BrickletDistanceUS.GetDistanceCallbackThreshold(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 212 - 1] max – Type: int, Range: [0 to 212 - 1]

Returns the threshold as set by SetDistanceCallbackThreshold().

The following constants are available for this function:

For option:

• BrickletDistanceUS.THRESHOLD_OPTION_OFF = 'x'
• BrickletDistanceUS.THRESHOLD_OPTION_OUTSIDE = 'o'
• BrickletDistanceUS.THRESHOLD_OPTION_INSIDE = 'i'
• BrickletDistanceUS.THRESHOLD_OPTION_SMALLER = '<'
• BrickletDistanceUS.THRESHOLD_OPTION_GREATER = '>'

void BrickletDistanceUS.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

• DistanceReachedCallback,

are triggered, if the thresholds

• SetDistanceCallbackThreshold(),

keep being reached.

long BrickletDistanceUS.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(BrickletDistanceUS sender, int value)
{
    System.Console.WriteLine("Value: " + value);
}

distanceUS.ExampleCallback += MyCallback;

The available events are described below.

event BrickletDistanceUS.DistanceCallback(BrickletDistanceUS sender, int distance)¶

Callback Parameters:	sender – Type: BrickletDistanceUS distance – Type: int, Range: [0 to 212 - 1]

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

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

event BrickletDistanceUS.DistanceReachedCallback(BrickletDistanceUS sender, int distance)¶

Callback Parameters:	sender – Type: BrickletDistanceUS distance – Type: int, Range: [0 to 212 - 1]

This callback is triggered when the threshold as set by SetDistanceCallbackThreshold() 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 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[] BrickletDistanceUS.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 BrickletDistanceUS.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:

• BrickletDistanceUS.FUNCTION_SET_DISTANCE_CALLBACK_PERIOD = 2
• BrickletDistanceUS.FUNCTION_SET_DISTANCE_CALLBACK_THRESHOLD = 4
• BrickletDistanceUS.FUNCTION_SET_DEBOUNCE_PERIOD = 6
• BrickletDistanceUS.FUNCTION_SET_MOVING_AVERAGE = 10

void BrickletDistanceUS.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:

• BrickletDistanceUS.FUNCTION_SET_DISTANCE_CALLBACK_PERIOD = 2
• BrickletDistanceUS.FUNCTION_SET_DISTANCE_CALLBACK_THRESHOLD = 4
• BrickletDistanceUS.FUNCTION_SET_DEBOUNCE_PERIOD = 6
• BrickletDistanceUS.FUNCTION_SET_MOVING_AVERAGE = 10

void BrickletDistanceUS.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 BrickletDistanceUS.DEVICE_IDENTIFIER¶

This constant is used to identify a Distance US 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 BrickletDistanceUS.DEVICE_DISPLAY_NAME¶

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