MATLAB/Octave - Laser Range Finder Bricklet 2.0¶

Simple (MATLAB)¶

Download (matlab_example_simple.m)

 1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29

function matlab_example_simple()
    import com.tinkerforge.IPConnection;
    import com.tinkerforge.BrickletLaserRangeFinderV2;

    HOST = 'localhost';
    PORT = 4223;
    UID = 'XYZ'; % Change XYZ to the UID of your Laser Range Finder Bricklet 2.0

    ipcon = IPConnection(); % Create IP connection
    lrf = handle(BrickletLaserRangeFinderV2(UID, ipcon), 'CallbackProperties'); % Create device object

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

    % Turn laser on and wait 250ms for very first measurement to be ready
    lrf.setEnable(true);
    pause(0.25);

    % Get current distance
    distance = lrf.getDistance();
    fprintf('Distance: %i cm\n', distance);

    input('Press key to exit\n', 's');

    % Turn laser off
    lrf.setEnable(false);

    ipcon.disconnect();
end

Callback (MATLAB)¶

Download (matlab_example_callback.m)

 1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36

function matlab_example_callback()
    import com.tinkerforge.IPConnection;
    import com.tinkerforge.BrickletLaserRangeFinderV2;

    HOST = 'localhost';
    PORT = 4223;
    UID = 'XYZ'; % Change XYZ to the UID of your Laser Range Finder Bricklet 2.0

    ipcon = IPConnection(); % Create IP connection
    lrf = handle(BrickletLaserRangeFinderV2(UID, ipcon), 'CallbackProperties'); % Create device object

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

    % Turn laser on and wait 250ms for very first measurement to be ready
    lrf.setEnable(true);
    pause(0.25);

    % Register distance callback to function cb_distance
    set(lrf, 'DistanceCallback', @(h, e) cb_distance(e));

    % Set period for distance callback to 0.2s (200ms) without a threshold
    lrf.setDistanceCallbackConfiguration(200, false, 'x', 0, 0);

    input('Press key to exit\n', 's');

    % Turn laser off
    lrf.setEnable(false);

    ipcon.disconnect();
end

% Callback function for distance callback
function cb_distance(e)
    fprintf('Distance: %i cm\n', e.distance);
end

Threshold (MATLAB)¶

Download (matlab_example_threshold.m)

 1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37

function matlab_example_threshold()
    import com.tinkerforge.IPConnection;
    import com.tinkerforge.BrickletLaserRangeFinderV2;

    HOST = 'localhost';
    PORT = 4223;
    UID = 'XYZ'; % Change XYZ to the UID of your Laser Range Finder Bricklet 2.0

    ipcon = IPConnection(); % Create IP connection
    lrf = handle(BrickletLaserRangeFinderV2(UID, ipcon), 'CallbackProperties'); % Create device object

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

    % Turn laser on and wait 250ms for very first measurement to be ready
    lrf.setEnable(true);
    pause(0.25);

    % Register distance callback to function cb_distance
    set(lrf, 'DistanceCallback', @(h, e) cb_distance(e));

    % Configure threshold for distance "greater than 20 cm"
    % with a debounce period of 1s (1000ms)
    lrf.setDistanceCallbackConfiguration(1000, false, '>', 20, 0);

    input('Press key to exit\n', 's');

    % Turn laser off
    lrf.setEnable(false);

    ipcon.disconnect();
end

% Callback function for distance callback
function cb_distance(e)
    fprintf('Distance: %i cm\n', e.distance);
end

Simple (Octave)¶

Download (octave_example_simple.m)

 1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28

function octave_example_simple()
    more off;

    HOST = "localhost";
    PORT = 4223;
    UID = "XYZ"; % Change XYZ to the UID of your Laser Range Finder Bricklet 2.0

    ipcon = javaObject("com.tinkerforge.IPConnection"); % Create IP connection
    lrf = javaObject("com.tinkerforge.BrickletLaserRangeFinderV2", UID, ipcon); % Create device object

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

    % Turn laser on and wait 250ms for very first measurement to be ready
    lrf.setEnable(true);
    pause(0.25);

    % Get current distance
    distance = lrf.getDistance();
    fprintf("Distance: %d cm\n", distance);

    input("Press key to exit\n", "s");

    % Turn laser off
    lrf.setEnable(false);

    ipcon.disconnect();
end

Callback (Octave)¶

Download (octave_example_callback.m)

 1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35

function octave_example_callback()
    more off;

    HOST = "localhost";
    PORT = 4223;
    UID = "XYZ"; % Change XYZ to the UID of your Laser Range Finder Bricklet 2.0

    ipcon = javaObject("com.tinkerforge.IPConnection"); % Create IP connection
    lrf = javaObject("com.tinkerforge.BrickletLaserRangeFinderV2", UID, ipcon); % Create device object

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

    % Turn laser on and wait 250ms for very first measurement to be ready
    lrf.setEnable(true);
    pause(0.25);

    % Register distance callback to function cb_distance
    lrf.addDistanceCallback(@cb_distance);

    % Set period for distance callback to 0.2s (200ms) without a threshold
    lrf.setDistanceCallbackConfiguration(200, false, "x", 0, 0);

    input("Press key to exit\n", "s");

    % Turn laser off
    lrf.setEnable(false);

    ipcon.disconnect();
end

% Callback function for distance callback
function cb_distance(e)
    fprintf("Distance: %d cm\n", e.distance);
end

Threshold (Octave)¶

Download (octave_example_threshold.m)

 1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36

function octave_example_threshold()
    more off;

    HOST = "localhost";
    PORT = 4223;
    UID = "XYZ"; % Change XYZ to the UID of your Laser Range Finder Bricklet 2.0

    ipcon = javaObject("com.tinkerforge.IPConnection"); % Create IP connection
    lrf = javaObject("com.tinkerforge.BrickletLaserRangeFinderV2", UID, ipcon); % Create device object

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

    % Turn laser on and wait 250ms for very first measurement to be ready
    lrf.setEnable(true);
    pause(0.25);

    % Register distance callback to function cb_distance
    lrf.addDistanceCallback(@cb_distance);

    % Configure threshold for distance "greater than 20 cm"
    % with a debounce period of 1s (1000ms)
    lrf.setDistanceCallbackConfiguration(1000, false, ">", 20, 0);

    input("Press key to exit\n", "s");

    % Turn laser off
    lrf.setEnable(false);

    ipcon.disconnect();
end

% Callback function for distance callback
function cb_distance(e)
    fprintf("Distance: %d cm\n", e.distance);
end

Basic Functions¶

class BrickletLaserRangeFinderV2(String uid, IPConnection ipcon)¶

Parameters:	uid – Type: String ipcon – Type: IPConnection
Returns:	laserRangeFinderV2 – Type: BrickletLaserRangeFinderV2

Creates an object with the unique device ID uid.

In MATLAB:

import com.tinkerforge.BrickletLaserRangeFinderV2;

laserRangeFinderV2 = BrickletLaserRangeFinderV2('YOUR_DEVICE_UID', ipcon);

In Octave:

laserRangeFinderV2 = java_new("com.tinkerforge.BrickletLaserRangeFinderV2", "YOUR_DEVICE_UID", ipcon);

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

int BrickletLaserRangeFinderV2.getDistance()¶

Returns:	distance – Type: int, Unit: 1 cm, Range: [0 to 4000]

Returns the measured distance.

The laser has to be enabled, see setEnable().

If you want to get the value periodically, it is recommended to use the DistanceCallback callback. You can set the callback configuration with setDistanceCallbackConfiguration().

int BrickletLaserRangeFinderV2.getVelocity()¶

Returns:	velocity – Type: int, Unit: 1 cm/s, Range: [-12800 to 12700]

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 setConfiguration()) is configured. Also the laser has to be enabled, see setEnable().

If you want to get the value periodically, it is recommended to use the VelocityCallback callback. You can set the callback configuration with setVelocityCallbackConfiguration().

void BrickletLaserRangeFinderV2.setEnable(boolean enable)¶

Parameters:	enable – Type: boolean, Default: false

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 getDistance() to ensure stable measurements.

boolean BrickletLaserRangeFinderV2.getEnable()¶

Returns:	enable – Type: boolean, Default: false

Returns the value as set by setEnable().

void BrickletLaserRangeFinderV2.setConfiguration(int acquisitionCount, boolean enableQuickTermination, int thresholdValue, int measurementFrequency)¶

Parameters:	acquisitionCount – Type: int, Range: [1 to 255], Default: 128 enableQuickTermination – Type: boolean, Default: false thresholdValue – Type: int, Range: [0 to 255], Default: 0 measurementFrequency – Type: int, Unit: 1 Hz, Range: [0, 10 to 500], Default: 0

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.

BrickletLaserRangeFinderV2.Configuration BrickletLaserRangeFinderV2.getConfiguration()¶

Return Object:	acquisitionCount – Type: int, Range: [1 to 255], Default: 128 enableQuickTermination – Type: boolean, Default: false thresholdValue – Type: int, Range: [0 to 255], Default: 0 measurementFrequency – Type: int, Unit: 1 Hz, Range: [0, 10 to 500], Default: 0

Returns the configuration as set by setConfiguration().

void BrickletLaserRangeFinderV2.setDistanceLEDConfig(int config)¶

Parameters:	config – Type: int, Range: See constants, Default: 3

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

The following constants are available for this function:

For config:

• BrickletLaserRangeFinderV2.DISTANCE_LED_CONFIG_OFF = 0
• BrickletLaserRangeFinderV2.DISTANCE_LED_CONFIG_ON = 1
• BrickletLaserRangeFinderV2.DISTANCE_LED_CONFIG_SHOW_HEARTBEAT = 2
• BrickletLaserRangeFinderV2.DISTANCE_LED_CONFIG_SHOW_DISTANCE = 3

int BrickletLaserRangeFinderV2.getDistanceLEDConfig()¶

Returns:	config – Type: int, Range: See constants, Default: 3

Returns the LED configuration as set by setDistanceLEDConfig()

The following constants are available for this function:

For config:

• BrickletLaserRangeFinderV2.DISTANCE_LED_CONFIG_OFF = 0
• BrickletLaserRangeFinderV2.DISTANCE_LED_CONFIG_ON = 1
• BrickletLaserRangeFinderV2.DISTANCE_LED_CONFIG_SHOW_HEARTBEAT = 2
• BrickletLaserRangeFinderV2.DISTANCE_LED_CONFIG_SHOW_DISTANCE = 3

Advanced Functions¶

void BrickletLaserRangeFinderV2.setMovingAverage(int distanceAverageLength, int velocityAverageLength)¶

Parameters:	distanceAverageLength – Type: int, Range: [0 to 255], Default: 10 velocityAverageLength – Type: int, Range: [0 to 255], Default: 10

Sets the length of a moving averaging 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.

BrickletLaserRangeFinderV2.MovingAverage BrickletLaserRangeFinderV2.getMovingAverage()¶

Return Object:	distanceAverageLength – Type: int, Range: [0 to 255], Default: 10 velocityAverageLength – Type: int, Range: [0 to 255], Default: 10

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

void BrickletLaserRangeFinderV2.setOffsetCalibration(int offset)¶

Parameters:	offset – Type: int, Unit: 1 cm, Range: [-215 to 28767]

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.

int BrickletLaserRangeFinderV2.getOffsetCalibration()¶

Returns:	offset – Type: int, Unit: 1 cm, Range: [-215 to 28767]

Returns the offset value as set by setOffsetCalibration().

BrickletLaserRangeFinderV2.SPITFPErrorCount BrickletLaserRangeFinderV2.getSPITFPErrorCount()¶

Return Object:	errorCountAckChecksum – Type: long, Range: [0 to 232 - 1] errorCountMessageChecksum – Type: long, Range: [0 to 232 - 1] errorCountFrame – Type: long, Range: [0 to 232 - 1] errorCountOverflow – Type: long, Range: [0 to 232 - 1]

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.

void BrickletLaserRangeFinderV2.setStatusLEDConfig(int config)¶

Parameters:	config – Type: int, Range: See constants, Default: 3

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.

The following constants are available for this function:

For config:

• BrickletLaserRangeFinderV2.STATUS_LED_CONFIG_OFF = 0
• BrickletLaserRangeFinderV2.STATUS_LED_CONFIG_ON = 1
• BrickletLaserRangeFinderV2.STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
• BrickletLaserRangeFinderV2.STATUS_LED_CONFIG_SHOW_STATUS = 3

int BrickletLaserRangeFinderV2.getStatusLEDConfig()¶

Returns:	config – Type: int, Range: See constants, Default: 3

Returns the configuration as set by setStatusLEDConfig()

The following constants are available for this function:

For config:

• BrickletLaserRangeFinderV2.STATUS_LED_CONFIG_OFF = 0
• BrickletLaserRangeFinderV2.STATUS_LED_CONFIG_ON = 1
• BrickletLaserRangeFinderV2.STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
• BrickletLaserRangeFinderV2.STATUS_LED_CONFIG_SHOW_STATUS = 3

int BrickletLaserRangeFinderV2.getChipTemperature()¶

Returns:	temperature – Type: int, Unit: 1 °C, Range: [-215 to 215 - 1]

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.

void BrickletLaserRangeFinderV2.reset()¶

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!

BrickletLaserRangeFinderV2.Identity BrickletLaserRangeFinderV2.getIdentity()¶

Return Object:

uid – Type: String, Length: up to 8 connectedUid – Type: String, Length: up to 8 position – Type: char, Range: ['a' to 'h', 'z'] hardwareVersion – Type: short[], Length: 3 1: major – Type: short, Range: [0 to 255] 2: minor – Type: short, Range: [0 to 255] 3: revision – Type: short, Range: [0 to 255] firmwareVersion – Type: short[], Length: 3 1: major – Type: short, Range: [0 to 255] 2: minor – Type: short, Range: [0 to 255] 3: revision – Type: short, 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 BrickletLaserRangeFinderV2.setDistanceCallbackConfiguration(long period, boolean valueHasToChange, char option, int min, int max)¶

Parameters:	period – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 valueHasToChange – Type: boolean, Default: false option – Type: char, Range: See constants, Default: 'x' min – Type: int, Unit: 1 cm, Range: [-215 to 215 - 1], Default: 0 max – Type: int, Unit: 1 cm, Range: [-215 to 215 - 1], Default: 0

The period is the period with which the DistanceCallback 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 DistanceCallback 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.

The following constants are available for this function:

For option:

• BrickletLaserRangeFinderV2.THRESHOLD_OPTION_OFF = 'x'
• BrickletLaserRangeFinderV2.THRESHOLD_OPTION_OUTSIDE = 'o'
• BrickletLaserRangeFinderV2.THRESHOLD_OPTION_INSIDE = 'i'
• BrickletLaserRangeFinderV2.THRESHOLD_OPTION_SMALLER = '<'
• BrickletLaserRangeFinderV2.THRESHOLD_OPTION_GREATER = '>'

BrickletLaserRangeFinderV2.DistanceCallbackConfiguration BrickletLaserRangeFinderV2.getDistanceCallbackConfiguration()¶

Return Object:	period – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 valueHasToChange – Type: boolean, Default: false option – Type: char, Range: See constants, Default: 'x' min – Type: int, Unit: 1 cm, Range: [-215 to 215 - 1], Default: 0 max – Type: int, Unit: 1 cm, Range: [-215 to 215 - 1], Default: 0

Returns the callback configuration as set by setDistanceCallbackConfiguration().

The following constants are available for this function:

For option:

• BrickletLaserRangeFinderV2.THRESHOLD_OPTION_OFF = 'x'
• BrickletLaserRangeFinderV2.THRESHOLD_OPTION_OUTSIDE = 'o'
• BrickletLaserRangeFinderV2.THRESHOLD_OPTION_INSIDE = 'i'
• BrickletLaserRangeFinderV2.THRESHOLD_OPTION_SMALLER = '<'
• BrickletLaserRangeFinderV2.THRESHOLD_OPTION_GREATER = '>'

void BrickletLaserRangeFinderV2.setVelocityCallbackConfiguration(long period, boolean valueHasToChange, char option, int min, int max)¶

Parameters:	period – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 valueHasToChange – Type: boolean, Default: false option – Type: char, Range: See constants, Default: 'x' min – Type: int, Unit: 1 cm/s, Range: [-215 to 215 - 1], Default: 0 max – Type: int, Unit: 1 cm/s, Range: [-215 to 215 - 1], Default: 0

The period is the period with which the VelocityCallback 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 VelocityCallback 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.

The following constants are available for this function:

For option:

• BrickletLaserRangeFinderV2.THRESHOLD_OPTION_OFF = 'x'
• BrickletLaserRangeFinderV2.THRESHOLD_OPTION_OUTSIDE = 'o'
• BrickletLaserRangeFinderV2.THRESHOLD_OPTION_INSIDE = 'i'
• BrickletLaserRangeFinderV2.THRESHOLD_OPTION_SMALLER = '<'
• BrickletLaserRangeFinderV2.THRESHOLD_OPTION_GREATER = '>'

BrickletLaserRangeFinderV2.VelocityCallbackConfiguration BrickletLaserRangeFinderV2.getVelocityCallbackConfiguration()¶

Return Object:	period – Type: long, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0 valueHasToChange – Type: boolean, Default: false option – Type: char, Range: See constants, Default: 'x' min – Type: int, Unit: 1 cm/s, Range: [-215 to 215 - 1], Default: 0 max – Type: int, Unit: 1 cm/s, Range: [-215 to 215 - 1], Default: 0

Returns the callback configuration as set by setVelocityCallbackConfiguration().

The following constants are available for this function:

For option:

• BrickletLaserRangeFinderV2.THRESHOLD_OPTION_OFF = 'x'
• BrickletLaserRangeFinderV2.THRESHOLD_OPTION_OUTSIDE = 'o'
• BrickletLaserRangeFinderV2.THRESHOLD_OPTION_INSIDE = 'i'
• BrickletLaserRangeFinderV2.THRESHOLD_OPTION_SMALLER = '<'
• BrickletLaserRangeFinderV2.THRESHOLD_OPTION_GREATER = '>'

Callbacks¶

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done with "set" function of MATLAB. The parameters consist of the IP Connection object, the callback name and the callback function. For example, it looks like this in MATLAB:

function my_callback(e)
    fprintf('Parameter: %s\n', e.param);
end

set(device, 'ExampleCallback', @(h, e) my_callback(e));

Due to a difference in the Octave Java support the "set" function cannot be used in Octave. The registration is done with "add*Callback" functions of the device object. It looks like this in Octave:

function my_callback(e)
    fprintf("Parameter: %s\n", e.param);
end

device.addExampleCallback(@my_callback);

It is possible to add several callbacks and to remove them with the corresponding "remove*Callback" function.

The parameters of the callback are passed to the callback function as fields of the structure e, which is derived from the java.util.EventObject class. The available callback names with corresponding structure fields are described below.

callback BrickletLaserRangeFinderV2.DistanceCallback¶

Event Object:	distance – Type: int, Unit: 1 cm, Range: [0 to 4000]

This callback is triggered periodically according to the configuration set by setDistanceCallbackConfiguration().

The parameter is the same as getDistance().

In MATLAB the set() function can be used to register a callback function to this callback.

In Octave a callback function can be added to this callback using the addDistanceCallback() function. An added callback function can be removed with the removeDistanceCallback() function.

callback BrickletLaserRangeFinderV2.VelocityCallback¶

Event Object:	velocity – Type: int, Unit: 1 cm/s, Range: [-12800 to 12700]

This callback is triggered periodically according to the configuration set by setVelocityCallbackConfiguration().

The parameter is the same as getVelocity().

In MATLAB the set() function can be used to register a callback function to this callback.

In Octave a callback function can be added to this callback using the addVelocityCallback() function. An added callback function can be removed with the removeVelocityCallback() function.

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.

short[] BrickletLaserRangeFinderV2.getAPIVersion()¶

Return Object:	apiVersion – Type: short[], Length: 3 1: major – Type: short, Range: [0 to 255] 2: minor – Type: short, Range: [0 to 255] 3: revision – Type: short, 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.

boolean BrickletLaserRangeFinderV2.getResponseExpected(byte functionId)¶

Parameters:	functionId – Type: byte, Range: See constants
Returns:	responseExpected – Type: boolean

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:

• BrickletLaserRangeFinderV2.FUNCTION_SET_DISTANCE_CALLBACK_CONFIGURATION = 2
• BrickletLaserRangeFinderV2.FUNCTION_SET_VELOCITY_CALLBACK_CONFIGURATION = 6
• BrickletLaserRangeFinderV2.FUNCTION_SET_ENABLE = 9
• BrickletLaserRangeFinderV2.FUNCTION_SET_CONFIGURATION = 11
• BrickletLaserRangeFinderV2.FUNCTION_SET_MOVING_AVERAGE = 13
• BrickletLaserRangeFinderV2.FUNCTION_SET_OFFSET_CALIBRATION = 15
• BrickletLaserRangeFinderV2.FUNCTION_SET_DISTANCE_LED_CONFIG = 17
• BrickletLaserRangeFinderV2.FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
• BrickletLaserRangeFinderV2.FUNCTION_SET_STATUS_LED_CONFIG = 239
• BrickletLaserRangeFinderV2.FUNCTION_RESET = 243
• BrickletLaserRangeFinderV2.FUNCTION_WRITE_UID = 248

void BrickletLaserRangeFinderV2.setResponseExpected(byte functionId, boolean responseExpected)¶

Parameters:	functionId – Type: byte, Range: See constants responseExpected – Type: boolean

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:

• BrickletLaserRangeFinderV2.FUNCTION_SET_DISTANCE_CALLBACK_CONFIGURATION = 2
• BrickletLaserRangeFinderV2.FUNCTION_SET_VELOCITY_CALLBACK_CONFIGURATION = 6
• BrickletLaserRangeFinderV2.FUNCTION_SET_ENABLE = 9
• BrickletLaserRangeFinderV2.FUNCTION_SET_CONFIGURATION = 11
• BrickletLaserRangeFinderV2.FUNCTION_SET_MOVING_AVERAGE = 13
• BrickletLaserRangeFinderV2.FUNCTION_SET_OFFSET_CALIBRATION = 15
• BrickletLaserRangeFinderV2.FUNCTION_SET_DISTANCE_LED_CONFIG = 17
• BrickletLaserRangeFinderV2.FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
• BrickletLaserRangeFinderV2.FUNCTION_SET_STATUS_LED_CONFIG = 239
• BrickletLaserRangeFinderV2.FUNCTION_RESET = 243
• BrickletLaserRangeFinderV2.FUNCTION_WRITE_UID = 248

void BrickletLaserRangeFinderV2.setResponseExpectedAll(boolean responseExpected)¶

Parameters:	responseExpected – Type: boolean

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

Internal Functions¶

Internal functions are used for maintenance tasks such as flashing a new firmware of changing the UID of a Bricklet. These task should be performed using Brick Viewer instead of using the internal functions directly.

int BrickletLaserRangeFinderV2.setBootloaderMode(int mode)¶

Parameters:	mode – Type: int, Range: See constants
Returns:	status – Type: int, Range: See constants

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.

The following constants are available for this function:

For mode:

• BrickletLaserRangeFinderV2.BOOTLOADER_MODE_BOOTLOADER = 0
• BrickletLaserRangeFinderV2.BOOTLOADER_MODE_FIRMWARE = 1
• BrickletLaserRangeFinderV2.BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
• BrickletLaserRangeFinderV2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
• BrickletLaserRangeFinderV2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

For status:

• BrickletLaserRangeFinderV2.BOOTLOADER_STATUS_OK = 0
• BrickletLaserRangeFinderV2.BOOTLOADER_STATUS_INVALID_MODE = 1
• BrickletLaserRangeFinderV2.BOOTLOADER_STATUS_NO_CHANGE = 2
• BrickletLaserRangeFinderV2.BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT = 3
• BrickletLaserRangeFinderV2.BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT = 4
• BrickletLaserRangeFinderV2.BOOTLOADER_STATUS_CRC_MISMATCH = 5

int BrickletLaserRangeFinderV2.getBootloaderMode()¶

Returns:	mode – Type: int, Range: See constants

Returns the current bootloader mode, see setBootloaderMode().

The following constants are available for this function:

For mode:

• BrickletLaserRangeFinderV2.BOOTLOADER_MODE_BOOTLOADER = 0
• BrickletLaserRangeFinderV2.BOOTLOADER_MODE_FIRMWARE = 1
• BrickletLaserRangeFinderV2.BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
• BrickletLaserRangeFinderV2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
• BrickletLaserRangeFinderV2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4

void BrickletLaserRangeFinderV2.setWriteFirmwarePointer(long pointer)¶

Parameters:	pointer – Type: long, Unit: 1 B, Range: [0 to 232 - 1]

Sets the firmware pointer for writeFirmware(). 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.

int BrickletLaserRangeFinderV2.writeFirmware(int[] data)¶

Parameters:	data – Type: int[], Length: 64, Range: [0 to 255]
Returns:	status – Type: int, Range: [0 to 255]

Writes 64 Bytes of firmware at the position as written by setWriteFirmwarePointer() 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.

void BrickletLaserRangeFinderV2.writeUID(long uid)¶

Parameters:	uid – Type: long, Range: [0 to 232 - 1]

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.

long BrickletLaserRangeFinderV2.readUID()¶

Returns:	uid – Type: long, Range: [0 to 232 - 1]

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

Constants¶

int BrickletLaserRangeFinderV2.DEVICE_IDENTIFIER¶

This constant is used to identify a Laser Range Finder Bricklet 2.0.

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 BrickletLaserRangeFinderV2.DEVICE_DISPLAY_NAME¶

This constant represents the human readable name of a Laser Range Finder Bricklet 2.0.