JavaScript - Laser Range Finder Bricklet¶

Simple (Node.js)¶

Download (ExampleSimple.js)

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var Tinkerforge = require('tinkerforge');

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

var ipcon = new Tinkerforge.IPConnection(); // Create IP connection
var lrf = new Tinkerforge.BrickletLaserRangeFinder(UID, ipcon); // Create device object

ipcon.connect(HOST, PORT,
    function (error) {
        console.log('Error: ' + error);
    }
); // Connect to brickd
// Don't use device before ipcon is connected

ipcon.on(Tinkerforge.IPConnection.CALLBACK_CONNECTED,
    function (connectReason) {
        // Turn laser on and wait 250ms for very first measurement to be ready
        lrf.enableLaser();

        setTimeout(function () {
            // Get current distance
            lrf.getDistance(
                function (distance) {
                    console.log('Distance: ' + distance + ' cm');
                },
                function (error) {
                    console.log('Error: ' + error);
                }
            );
        }, 250);
    }
);

console.log('Press key to exit');
process.stdin.on('data',
    function (data) {
        lrf.disableLaser(); // Turn laser off

        ipcon.disconnect();
        process.exit(0);
    }
);

Callback (Node.js)¶

Download (ExampleCallback.js)

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var Tinkerforge = require('tinkerforge');

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

var ipcon = new Tinkerforge.IPConnection(); // Create IP connection
var lrf = new Tinkerforge.BrickletLaserRangeFinder(UID, ipcon); // Create device object

ipcon.connect(HOST, PORT,
    function (error) {
        console.log('Error: ' + error);
    }
); // Connect to brickd
// Don't use device before ipcon is connected

ipcon.on(Tinkerforge.IPConnection.CALLBACK_CONNECTED,
    function (connectReason) {
        // Turn laser on and wait 250ms for very first measurement to be ready
        lrf.enableLaser();

        setTimeout(function () {
            // 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!
            lrf.setDistanceCallbackPeriod(200);
        }, 250);
    }
);

// Register distance callback
lrf.on(Tinkerforge.BrickletLaserRangeFinder.CALLBACK_DISTANCE,
    // Callback function for distance callback
    function (distance) {
        console.log('Distance: ' + distance + ' cm');
    }
);

console.log('Press key to exit');
process.stdin.on('data',
    function (data) {
        lrf.disableLaser(); // Turn laser off

        ipcon.disconnect();
        process.exit(0);
    }
);

Threshold (Node.js)¶

Download (ExampleThreshold.js)

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var Tinkerforge = require('tinkerforge');

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

var ipcon = new Tinkerforge.IPConnection(); // Create IP connection
var lrf = new Tinkerforge.BrickletLaserRangeFinder(UID, ipcon); // Create device object

ipcon.connect(HOST, PORT,
    function (error) {
        console.log('Error: ' + error);
    }
); // Connect to brickd
// Don't use device before ipcon is connected

ipcon.on(Tinkerforge.IPConnection.CALLBACK_CONNECTED,
    function (connectReason) {
        // Turn laser on and wait 250ms for very first measurement to be ready
        lrf.enableLaser();

        setTimeout(function () {
            // Get threshold callbacks with a debounce time of 10 seconds (10000ms)
            lrf.setDebouncePeriod(10000);

            // Configure threshold for distance "greater than 20 cm"
            lrf.setDistanceCallbackThreshold('>', 20, 0);
        }, 250);
    }
);

// Register distance reached callback
lrf.on(Tinkerforge.BrickletLaserRangeFinder.CALLBACK_DISTANCE_REACHED,
    // Callback function for distance reached callback
    function (distance) {
        console.log('Distance: ' + distance + ' cm');
    }
);

console.log('Press key to exit');
process.stdin.on('data',
    function (data) {
        lrf.disableLaser(); // Turn laser off

        ipcon.disconnect();
        process.exit(0);
    }
);

Simple (HTML)¶

Download (ExampleSimple.html), Test (ExampleSimple.html)

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<!DOCTYPE html>
<html>
    <meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
    <head>
        <title>Tinkerforge | JavaScript Example</title>
    </head>
    <body>
        <div style="text-align:center;">
            <h1>Laser Range Finder Bricklet Simple Example</h1>
            <p>
                <input value="localhost" id="host" type="text" size="20">:
                <input value="4280" id="port" type="text" size="5">,
                <input value="uid" id="uid" type="text" size="5">
                <input value="Start Example" id="start" type="button" onclick="startExample();">
            </p>
            <p>
                <textarea readonly id="text" cols="80" rows="24" style="resize:none;"
                          >Press "Start Example" to begin ...</textarea>
            </p>
        </div>
        <script src="./Tinkerforge.js" type='text/javascript'></script>
        <script type='text/javascript'>
            var ipcon;
            var textArea = document.getElementById("text");
            function startExample() {
                textArea.value = "";
                var HOST = document.getElementById("host").value;
                var PORT = parseInt(document.getElementById("port").value);
                var UID = document.getElementById("uid").value;
                if(ipcon !== undefined) {
                    ipcon.disconnect();
                }
                ipcon = new Tinkerforge.IPConnection(); // Create IP connection
                var lrf = new Tinkerforge.BrickletLaserRangeFinder(UID, ipcon); // Create device object
                ipcon.connect(HOST, PORT,
                    function(error) {
                        textArea.value += 'Error: ' + error + '\n';
                    }
                ); // Connect to brickd
                // Don't use device before ipcon is connected

                ipcon.on(Tinkerforge.IPConnection.CALLBACK_CONNECTED,
                    function (connectReason) {
                        // Turn laser on and wait 250ms for very first measurement to be ready
                        lrf.enableLaser();

                        setTimeout(function () {
                            // Get current distance
                            lrf.getDistance(
                                function (distance) {
                                    textArea.value += 'Distance: ' + distance + ' cm\n';
                                },
                                function (error) {
                                    textArea.value += 'Error: ' + error + '\n';
                                }
                            );
                        }, 250);
                    }
                );
            }
        </script>
    </body>
</html>

Callback (HTML)¶

Download (ExampleCallback.html), Test (ExampleCallback.html)

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<!DOCTYPE html>
<html>
    <meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
    <head>
        <title>Tinkerforge | JavaScript Example</title>
    </head>
    <body>
        <div style="text-align:center;">
            <h1>Laser Range Finder Bricklet Callback Example</h1>
            <p>
                <input value="localhost" id="host" type="text" size="20">:
                <input value="4280" id="port" type="text" size="5">,
                <input value="uid" id="uid" type="text" size="5">
                <input value="Start Example" id="start" type="button" onclick="startExample();">
            </p>
            <p>
                <textarea readonly id="text" cols="80" rows="24" style="resize:none;"
                          >Press "Start Example" to begin ...</textarea>
            </p>
        </div>
        <script src="./Tinkerforge.js" type='text/javascript'></script>
        <script type='text/javascript'>
            var ipcon;
            var textArea = document.getElementById("text");
            function startExample() {
                textArea.value = "";
                var HOST = document.getElementById("host").value;
                var PORT = parseInt(document.getElementById("port").value);
                var UID = document.getElementById("uid").value;
                if(ipcon !== undefined) {
                    ipcon.disconnect();
                }
                ipcon = new Tinkerforge.IPConnection(); // Create IP connection
                var lrf = new Tinkerforge.BrickletLaserRangeFinder(UID, ipcon); // Create device object
                ipcon.connect(HOST, PORT,
                    function(error) {
                        textArea.value += 'Error: ' + error + '\n';
                    }
                ); // Connect to brickd
                // Don't use device before ipcon is connected

                ipcon.on(Tinkerforge.IPConnection.CALLBACK_CONNECTED,
                    function (connectReason) {
                        // Turn laser on and wait 250ms for very first measurement to be ready
                        lrf.enableLaser();

                        setTimeout(function () {
                            // 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!
                            lrf.setDistanceCallbackPeriod(200);
                        }, 250);
                    }
                );

                // Register distance callback
                lrf.on(Tinkerforge.BrickletLaserRangeFinder.CALLBACK_DISTANCE,
                    // Callback function for distance callback
                    function (distance) {
                        textArea.value += 'Distance: ' + distance + ' cm\n';
                        textArea.scrollTop = textArea.scrollHeight;
                    }
                );
            }
        </script>
    </body>
</html>

Threshold (HTML)¶

Download (ExampleThreshold.html), Test (ExampleThreshold.html)

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<!DOCTYPE html>
<html>
    <meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
    <head>
        <title>Tinkerforge | JavaScript Example</title>
    </head>
    <body>
        <div style="text-align:center;">
            <h1>Laser Range Finder Bricklet Threshold Example</h1>
            <p>
                <input value="localhost" id="host" type="text" size="20">:
                <input value="4280" id="port" type="text" size="5">,
                <input value="uid" id="uid" type="text" size="5">
                <input value="Start Example" id="start" type="button" onclick="startExample();">
            </p>
            <p>
                <textarea readonly id="text" cols="80" rows="24" style="resize:none;"
                          >Press "Start Example" to begin ...</textarea>
            </p>
        </div>
        <script src="./Tinkerforge.js" type='text/javascript'></script>
        <script type='text/javascript'>
            var ipcon;
            var textArea = document.getElementById("text");
            function startExample() {
                textArea.value = "";
                var HOST = document.getElementById("host").value;
                var PORT = parseInt(document.getElementById("port").value);
                var UID = document.getElementById("uid").value;
                if(ipcon !== undefined) {
                    ipcon.disconnect();
                }
                ipcon = new Tinkerforge.IPConnection(); // Create IP connection
                var lrf = new Tinkerforge.BrickletLaserRangeFinder(UID, ipcon); // Create device object
                ipcon.connect(HOST, PORT,
                    function(error) {
                        textArea.value += 'Error: ' + error + '\n';
                    }
                ); // Connect to brickd
                // Don't use device before ipcon is connected

                ipcon.on(Tinkerforge.IPConnection.CALLBACK_CONNECTED,
                    function (connectReason) {
                        // Turn laser on and wait 250ms for very first measurement to be ready
                        lrf.enableLaser();

                        setTimeout(function () {
                            // Get threshold callbacks with a debounce time of 10 seconds (10000ms)
                            lrf.setDebouncePeriod(10000);

                            // Configure threshold for distance "greater than 20 cm"
                            lrf.setDistanceCallbackThreshold('>', 20, 0);
                        }, 250);
                    }
                );

                // Register distance reached callback
                lrf.on(Tinkerforge.BrickletLaserRangeFinder.CALLBACK_DISTANCE_REACHED,
                    // Callback function for distance reached callback
                    function (distance) {
                        textArea.value += 'Distance: ' + distance + ' cm\n';
                        textArea.scrollTop = textArea.scrollHeight;
                    }
                );
            }
        </script>
    </body>
</html>

Basic Functions¶

new BrickletLaserRangeFinder(uid, ipcon)¶

Parameters:	uid – Type: string ipcon – Type: IPConnection
Returns:	laserRangeFinder – Type: BrickletLaserRangeFinder

Creates an object with the unique device ID uid:

var laserRangeFinder = new BrickletLaserRangeFinder("YOUR_DEVICE_UID", ipcon);

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

BrickletLaserRangeFinder.getDistance([returnCallback][, errorCallback])¶

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

Returns the measured distance.

Sensor hardware version 1 (see getSensorHardwareVersion()) cannot measure distance and velocity at the same time. Therefore, the distance mode has to be enabled using setMode(). Sensor hardware version 3 can measure distance and velocity at the same time. Also the laser has to be enabled, see enableLaser().

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

BrickletLaserRangeFinder.getVelocity([returnCallback][, errorCallback])¶

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

Returns the measured velocity.

Sensor hardware version 1 (see getSensorHardwareVersion()) cannot measure distance and velocity at the same time. Therefore, the velocity mode has to be enabled using setMode(). 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 rate (see setConfiguration()) is configured. Also the laser has to be enabled, see enableLaser().

If you want to get the velocity periodically, it is recommended to use the CALLBACK_VELOCITY callback and set the period with setVelocityCallbackPeriod().

BrickletLaserRangeFinder.setMode(mode[, returnCallback][, errorCallback])¶

Parameters:	mode – Type: int, Range: See constants, Default: 0
Callback Parameters:	undefined
Returns:	undefined

Note

This function is only available if you have a LIDAR-Lite sensor with hardware version 1. Use setConfiguration() for hardware version 3. You can check the sensor hardware version using getSensorHardwareVersion().

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 0-4000 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

The following constants are available for this function:

For mode:

• BrickletLaserRangeFinder.MODE_DISTANCE = 0
• BrickletLaserRangeFinder.MODE_VELOCITY_MAX_13MS = 1
• BrickletLaserRangeFinder.MODE_VELOCITY_MAX_32MS = 2
• BrickletLaserRangeFinder.MODE_VELOCITY_MAX_64MS = 3
• BrickletLaserRangeFinder.MODE_VELOCITY_MAX_127MS = 4

BrickletLaserRangeFinder.getMode([returnCallback][, errorCallback])¶

Callback Parameters:	mode – Type: int, Range: See constants, Default: 0
Returns:	undefined

Returns the mode as set by setMode().

The following constants are available for this function:

For mode:

• BrickletLaserRangeFinder.MODE_DISTANCE = 0
• BrickletLaserRangeFinder.MODE_VELOCITY_MAX_13MS = 1
• BrickletLaserRangeFinder.MODE_VELOCITY_MAX_32MS = 2
• BrickletLaserRangeFinder.MODE_VELOCITY_MAX_64MS = 3
• BrickletLaserRangeFinder.MODE_VELOCITY_MAX_127MS = 4

BrickletLaserRangeFinder.enableLaser([returnCallback][, errorCallback])¶

Callback Parameters:	undefined
Returns:	undefined

Activates the laser of the LIDAR.

We recommend that you wait 250ms after enabling the laser before the first call of getDistance() to ensure stable measurements.

BrickletLaserRangeFinder.disableLaser([returnCallback][, errorCallback])¶

Callback Parameters:	undefined
Returns:	undefined

Deactivates the laser of the LIDAR.

BrickletLaserRangeFinder.isLaserEnabled([returnCallback][, errorCallback])¶

Callback Parameters:	laserEnabled – Type: boolean
Returns:	undefined

Returns true if the laser is enabled, false otherwise.

BrickletLaserRangeFinder.setConfiguration(acquisitionCount, enableQuickTermination, thresholdValue, measurementFrequency[, returnCallback][, errorCallback])¶

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
Callback Parameters:	undefined
Returns:	undefined

Note

This function is only available if you have a LIDAR-Lite sensor with hardware version 3. Use setMode() for hardware version 1. You can check the sensor hardware version using getSensorHardwareVersion().

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).

New in version 2.0.3 (Plugin).

BrickletLaserRangeFinder.getConfiguration([returnCallback][, errorCallback])¶

Callback 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
Returns:	undefined

Returns the configuration as set by setConfiguration().

New in version 2.0.3 (Plugin).

Advanced Functions¶

BrickletLaserRangeFinder.setMovingAverage(distanceAverageLength, velocityAverageLength[, returnCallback][, errorCallback])¶

Parameters:	distanceAverageLength – Type: int, Range: [0 to 30], Default: 10 velocityAverageLength – Type: int, Range: [0 to 30], Default: 10
Callback Parameters:	undefined
Returns:	undefined

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.

BrickletLaserRangeFinder.getMovingAverage([returnCallback][, errorCallback])¶

Callback Parameters:	distanceAverageLength – Type: int, Range: [0 to 30], Default: 10 velocityAverageLength – Type: int, Range: [0 to 30], Default: 10
Returns:	undefined

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

BrickletLaserRangeFinder.getSensorHardwareVersion([returnCallback][, errorCallback])¶

Callback Parameters:	version – Type: int, Range: See constants
Returns:	undefined

Returns the LIDAR-Lite hardware version.

The following constants are available for this function:

For version:

• BrickletLaserRangeFinder.VERSION_1 = 1
• BrickletLaserRangeFinder.VERSION_3 = 3

New in version 2.0.3 (Plugin).

BrickletLaserRangeFinder.getIdentity([returnCallback][, errorCallback])¶

Callback 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: [int, ...], 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] firmwareVersion – Type: [int, ...], 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] deviceIdentifier – Type: int, Range: [0 to 216 - 1]

Returns:

undefined

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¶

BrickletLaserRangeFinder.on(callback_id, function[, errorCallback])¶

Parameters:	callback_id – Type: int function – Type: function
Returns:	undefined

Registers the given function with the given callback_id.

The available callback IDs with corresponding function signatures are listed below.

BrickletLaserRangeFinder.setDistanceCallbackPeriod(period[, returnCallback][, errorCallback])¶

Parameters:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0
Callback Parameters:	undefined
Returns:	undefined

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

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

BrickletLaserRangeFinder.getDistanceCallbackPeriod([returnCallback][, errorCallback])¶

Callback Parameters:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0
Returns:	undefined

Returns the period as set by setDistanceCallbackPeriod().

BrickletLaserRangeFinder.setVelocityCallbackPeriod(period[, returnCallback][, errorCallback])¶

Parameters:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0
Callback Parameters:	undefined
Returns:	undefined

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

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

BrickletLaserRangeFinder.getVelocityCallbackPeriod([returnCallback][, errorCallback])¶

Callback Parameters:	period – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 0
Returns:	undefined

Returns the period as set by setVelocityCallbackPeriod().

BrickletLaserRangeFinder.setDistanceCallbackThreshold(option, min, max[, returnCallback][, errorCallback])¶

Parameters:	option – Type: char, Range: See constants, Default: 'x' min – Type: int, Unit: 1 cm, Range: [0 to 216 - 1], Default: 0 max – Type: int, Unit: 1 cm, Range: [0 to 216 - 1], Default: 0
Callback Parameters:	undefined
Returns:	undefined

Sets the thresholds for the CALLBACK_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 constants are available for this function:

For option:

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

BrickletLaserRangeFinder.getDistanceCallbackThreshold([returnCallback][, errorCallback])¶

Callback Parameters:	option – Type: char, Range: See constants, Default: 'x' min – Type: int, Unit: 1 cm, Range: [0 to 216 - 1], Default: 0 max – Type: int, Unit: 1 cm, Range: [0 to 216 - 1], Default: 0
Returns:	undefined

Returns the threshold as set by setDistanceCallbackThreshold().

The following constants are available for this function:

For option:

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

BrickletLaserRangeFinder.setVelocityCallbackThreshold(option, min, max[, returnCallback][, errorCallback])¶

Parameters:	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
Callback Parameters:	undefined
Returns:	undefined

Sets the thresholds for the CALLBACK_VELOCITY_REACHED callback.

The following options are possible:

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

The following constants are available for this function:

For option:

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

BrickletLaserRangeFinder.getVelocityCallbackThreshold([returnCallback][, errorCallback])¶

Callback Parameters:	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:	undefined

Returns the threshold as set by setVelocityCallbackThreshold().

The following constants are available for this function:

For option:

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

BrickletLaserRangeFinder.setDebouncePeriod(debounce[, returnCallback][, errorCallback])¶

Parameters:	debounce – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 100
Callback Parameters:	undefined
Returns:	undefined

Sets the period with which the threshold callbacks

• CALLBACK_DISTANCE_REACHED,
• CALLBACK_VELOCITY_REACHED,

are triggered, if the thresholds

• setDistanceCallbackThreshold(),
• setVelocityCallbackThreshold(),

keep being reached.

BrickletLaserRangeFinder.getDebouncePeriod([returnCallback][, errorCallback])¶

Callback Parameters:	debounce – Type: int, Unit: 1 ms, Range: [0 to 232 - 1], Default: 100
Returns:	undefined

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 with the on() function of the device object. The first parameter is the callback ID and the second parameter the callback function:

laserRangeFinder.on(BrickletLaserRangeFinder.CALLBACK_EXAMPLE,
    function (param) {
        console.log(param);
    }
);

The available constants with inherent number and type of parameters are described below.

BrickletLaserRangeFinder.CALLBACK_DISTANCE¶

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

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

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

BrickletLaserRangeFinder.CALLBACK_VELOCITY¶

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

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

The CALLBACK_VELOCITY callback is only triggered if the velocity has changed since the last triggering.

BrickletLaserRangeFinder.CALLBACK_DISTANCE_REACHED¶

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

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().

BrickletLaserRangeFinder.CALLBACK_VELOCITY_REACHED¶

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

This callback is triggered when the threshold as set by setVelocityCallbackThreshold() is reached. The parameter is the velocity 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.

BrickletLaserRangeFinder.getAPIVersion()¶

Returns:	apiVersion – Type: [int, ...], 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]

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.

BrickletLaserRangeFinder.getResponseExpected(functionId[, errorCallback])¶

Parameters:	functionId – Type: int, 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 function_id:

• BrickletLaserRangeFinder.FUNCTION_SET_DISTANCE_CALLBACK_PERIOD = 3
• BrickletLaserRangeFinder.FUNCTION_SET_VELOCITY_CALLBACK_PERIOD = 5
• BrickletLaserRangeFinder.FUNCTION_SET_DISTANCE_CALLBACK_THRESHOLD = 7
• BrickletLaserRangeFinder.FUNCTION_SET_VELOCITY_CALLBACK_THRESHOLD = 9
• BrickletLaserRangeFinder.FUNCTION_SET_DEBOUNCE_PERIOD = 11
• BrickletLaserRangeFinder.FUNCTION_SET_MOVING_AVERAGE = 13
• BrickletLaserRangeFinder.FUNCTION_SET_MODE = 15
• BrickletLaserRangeFinder.FUNCTION_ENABLE_LASER = 17
• BrickletLaserRangeFinder.FUNCTION_DISABLE_LASER = 18
• BrickletLaserRangeFinder.FUNCTION_SET_CONFIGURATION = 25

BrickletLaserRangeFinder.setResponseExpected(functionId, responseExpected[, errorCallback])¶

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

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 function_id:

• BrickletLaserRangeFinder.FUNCTION_SET_DISTANCE_CALLBACK_PERIOD = 3
• BrickletLaserRangeFinder.FUNCTION_SET_VELOCITY_CALLBACK_PERIOD = 5
• BrickletLaserRangeFinder.FUNCTION_SET_DISTANCE_CALLBACK_THRESHOLD = 7
• BrickletLaserRangeFinder.FUNCTION_SET_VELOCITY_CALLBACK_THRESHOLD = 9
• BrickletLaserRangeFinder.FUNCTION_SET_DEBOUNCE_PERIOD = 11
• BrickletLaserRangeFinder.FUNCTION_SET_MOVING_AVERAGE = 13
• BrickletLaserRangeFinder.FUNCTION_SET_MODE = 15
• BrickletLaserRangeFinder.FUNCTION_ENABLE_LASER = 17
• BrickletLaserRangeFinder.FUNCTION_DISABLE_LASER = 18
• BrickletLaserRangeFinder.FUNCTION_SET_CONFIGURATION = 25

BrickletLaserRangeFinder.setResponseExpectedAll(responseExpected)¶

Parameters:	responseExpected – Type: boolean
Returns:	undefined

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

Constants¶

BrickletLaserRangeFinder.DEVICE_IDENTIFIER¶

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

The getIdentity() function and the IPConnection.CALLBACK_ENUMERATE callback of the IP Connection have a device_identifier parameter to specify the Brick's or Bricklet's type.

BrickletLaserRangeFinder.DEVICE_DISPLAY_NAME¶

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