Shell - Distance US Bricklet¶

Simple¶

Download (example-simple.sh)

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#!/bin/sh
# Connects to localhost:4223 by default, use --host and --port to change this

uid=XYZ # Change XYZ to the UID of your Distance US Bricklet

# Get current distance value
tinkerforge call distance-us-bricklet $uid get-distance-value

Callback¶

Download (example-callback.sh)

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#!/bin/sh
# Connects to localhost:4223 by default, use --host and --port to change this

uid=XYZ # Change XYZ to the UID of your Distance US Bricklet

# Handle incoming distance value callbacks
tinkerforge dispatch distance-us-bricklet $uid distance &

# 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!
tinkerforge call distance-us-bricklet $uid set-distance-callback-period 200

echo "Press key to exit"; read dummy

kill -- -$$ # Stop callback dispatch in background

Threshold¶

Download (example-threshold.sh)

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#!/bin/sh
# Connects to localhost:4223 by default, use --host and --port to change this

uid=XYZ # Change XYZ to the UID of your Distance US Bricklet

# Get threshold callbacks with a debounce time of 10 seconds (10000ms)
tinkerforge call distance-us-bricklet $uid set-debounce-period 10000

# Handle incoming distance value reached callbacks
tinkerforge dispatch distance-us-bricklet $uid distance-reached &

# Configure threshold for distance value "smaller than 200"
tinkerforge call distance-us-bricklet $uid set-distance-callback-threshold threshold-option-smaller 200 0

echo "Press key to exit"; read dummy

kill -- -$$ # Stop callback dispatch in background

Command Structure¶

The common options of the call and dispatch commands are documented here. The specific command structure is shown below.

tinkerforge call distance-us-bricklet [<option>..] <uid> <function> [<argument>..]¶

Parameters:	<uid> – Type: String <function> – Type: String

The call command is used to call a function of the Distance US Bricklet. It can take several options:

• --help shows help for the specific call command and exits
• --list-functions shows a list of known functions of the Distance US Bricklet and exits

tinkerforge dispatch distance-us-bricklet [<option>..] <uid> <callback>¶

Parameters:	<uid> – Type: String <callback> – Type: String

The dispatch command is used to dispatch a callback of the Distance US Bricklet. It can take several options:

• --help shows help for the specific dispatch command and exits
• --list-callbacks shows a list of known callbacks of the Distance US Bricklet and exits

tinkerforge call distance-us-bricklet <uid> <function> [<option>..] [<argument>..]¶

Parameters:	<uid> – Type: String <function> – Type: String

The <function> to be called can take different options depending of its kind. All functions can take the following options:

• --help shows help for the specific function and exits

Getter functions can take the following options:

• --execute <command> shell command line to execute for each incoming response (see section about output formatting for details)

Setter functions can take the following options:

• --expect-response requests response and waits for it

The --expect-response option for setter functions allows to detect timeouts and other error conditions calls of setters as well. The device will then send a response for this purpose. If this option is not given for a setter function then no response is sent and errors are silently ignored, because they cannot be detected.

tinkerforge dispatch distance-us-bricklet <uid> <callback> [<option>..]¶

Parameters:	<uid> – Type: String <callback> – Type: String

The <callback> to be dispatched can take several options:

• --help shows help for the specific callback and exits
• --execute <command> shell command line to execute for each incoming response (see section about output formatting for details)

Basic Functions¶

tinkerforge call distance-us-bricklet <uid> get-distance-value¶

Output:	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 distance callback and set the period with set-distance-callback-period.

Advanced Functions¶

tinkerforge call distance-us-bricklet <uid> set-moving-average <average>¶

Parameters:	<average> – Type: Int, Range: [0 to 100], Default: 20
Output:	no output

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.

tinkerforge call distance-us-bricklet <uid> get-moving-average¶

Output:	average – Type: Int, Range: [0 to 100], Default: 20

Returns the length moving average as set by set-moving-average.

tinkerforge call distance-us-bricklet <uid> get-identity¶

Output:

uid – Type: String, Length: up to 8 connected-uid – Type: String, Length: up to 8 position – Type: Char, Range: [a to h, z] hardware-version – Type: Int Array, Length: 3 0: major – Type: Int, Range: [0 to 255] 1: minor – Type: Int, Range: [0 to 255] 2: revision – Type: Int, Range: [0 to 255] firmware-version – Type: Int Array, Length: 3 0: major – Type: Int, Range: [0 to 255] 1: minor – Type: Int, Range: [0 to 255] 2: revision – Type: Int, Range: [0 to 255] device-identifier – 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. 

Callback Configuration Functions¶

tinkerforge call distance-us-bricklet <uid> set-distance-callback-period <period>¶

Parameters:	<period> – Type: Int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0
Output:	no output

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

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

tinkerforge call distance-us-bricklet <uid> get-distance-callback-period¶

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

Returns the period as set by set-distance-callback-period.

tinkerforge call distance-us-bricklet <uid> set-distance-callback-threshold <option> <min> <max>¶

Parameters:	<option> – Type: Char, Range: See symbols, Default: x <min> – Type: Int, Range: [0 to 212 - 1] <max> – Type: Int, Range: [0 to 212 - 1]
Output:	no output

Sets the thresholds for the 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 following symbols are available for this function:

For <option>:

• threshold-option-off = x
• threshold-option-outside = o
• threshold-option-inside = i
• threshold-option-smaller = <
• threshold-option-greater = >

tinkerforge call distance-us-bricklet <uid> get-distance-callback-threshold¶

Output:	option – Type: Char, Range: See symbols, Default: x min – Type: Int, Range: [0 to 212 - 1] max – Type: Int, Range: [0 to 212 - 1]

Returns the threshold as set by set-distance-callback-threshold.

The following symbols are available for this function:

For option:

• threshold-option-off = x
• threshold-option-outside = o
• threshold-option-inside = i
• threshold-option-smaller = <
• threshold-option-greater = >

tinkerforge call distance-us-bricklet <uid> set-debounce-period <debounce>¶

Parameters:	<debounce> – Type: Int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 100
Output:	no output

Sets the period with which the threshold callbacks

• distance-reached,

are triggered, if the thresholds

• set-distance-callback-threshold,

keep being reached.

tinkerforge call distance-us-bricklet <uid> get-debounce-period¶

Output:	debounce – Type: Int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 100

Returns the debounce period as set by set-debounce-period.

Callbacks¶

Callbacks can be used to receive time critical or recurring data from the device:

tinkerforge dispatch distance-us-bricklet <uid> example

The available callbacks are described below.

tinkerforge dispatch distance-us-bricklet <uid> distance¶

Output:	distance – Type: Int, Range: [0 to 212 - 1]

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

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

tinkerforge dispatch distance-us-bricklet <uid> distance-reached¶

Output:	distance – Type: Int, Range: [0 to 212 - 1]

This callback is triggered when the threshold as set by 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 set-debounce-period.