Ruby - Accelerometer Bricklet

This is the description of the Ruby API bindings for the Accelerometer Bricklet. General information and technical specifications for the Accelerometer Bricklet are summarized in its hardware description.

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

Examples

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

Simple

Download (example_simple.rb)

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#!/usr/bin/env ruby
# -*- ruby encoding: utf-8 -*-

require 'tinkerforge/ip_connection'
require 'tinkerforge/bricklet_accelerometer'

include Tinkerforge

HOST = 'localhost'
PORT = 4223
UID = 'XYZ' # Change XYZ to the UID of your Accelerometer Bricklet

ipcon = IPConnection.new # Create IP connection
a = BrickletAccelerometer.new UID, ipcon # Create device object

ipcon.connect HOST, PORT # Connect to brickd
# Don't use device before ipcon is connected

# Get current acceleration as [x, y, z]
acceleration = a.get_acceleration

puts "Acceleration [X]: #{acceleration[0]/1000.0} g"
puts "Acceleration [Y]: #{acceleration[1]/1000.0} g"
puts "Acceleration [Z]: #{acceleration[2]/1000.0} g"

puts 'Press key to exit'
$stdin.gets
ipcon.disconnect

Callback

Download (example_callback.rb)

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#!/usr/bin/env ruby
# -*- ruby encoding: utf-8 -*-

require 'tinkerforge/ip_connection'
require 'tinkerforge/bricklet_accelerometer'

include Tinkerforge

HOST = 'localhost'
PORT = 4223
UID = 'XYZ' # Change XYZ to the UID of your Accelerometer Bricklet

ipcon = IPConnection.new # Create IP connection
a = BrickletAccelerometer.new UID, ipcon # Create device object

ipcon.connect HOST, PORT # Connect to brickd
# Don't use device before ipcon is connected

# Register acceleration callback
a.register_callback(BrickletAccelerometer::CALLBACK_ACCELERATION) do |x, y, z|
  puts "Acceleration [X]: #{x/1000.0} g"
  puts "Acceleration [Y]: #{y/1000.0} g"
  puts "Acceleration [Z]: #{z/1000.0} g"
  puts ''
end

# Set period for acceleration callback to 1s (1000ms)
# Note: The acceleration callback is only called every second
#       if the acceleration has changed since the last call!
a.set_acceleration_callback_period 1000

puts 'Press key to exit'
$stdin.gets
ipcon.disconnect

Threshold

Download (example_threshold.rb)

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#!/usr/bin/env ruby
# -*- ruby encoding: utf-8 -*-

require 'tinkerforge/ip_connection'
require 'tinkerforge/bricklet_accelerometer'

include Tinkerforge

HOST = 'localhost'
PORT = 4223
UID = 'XYZ' # Change XYZ to the UID of your Accelerometer Bricklet

ipcon = IPConnection.new # Create IP connection
a = BrickletAccelerometer.new 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)
a.set_debounce_period 10000

# Register acceleration reached callback
a.register_callback(BrickletAccelerometer::CALLBACK_ACCELERATION_REACHED) do |x, y, z|
  puts "Acceleration [X]: #{x/1000.0} g"
  puts "Acceleration [Y]: #{y/1000.0} g"
  puts "Acceleration [Z]: #{z/1000.0} g"
  puts ''
end

# Configure threshold for acceleration "greater than 2 g, 2 g, 2 g"
a.set_acceleration_callback_threshold '>', 2*1000, 0, 2*1000, 0, 2*1000, 0

puts 'Press key to exit'
$stdin.gets
ipcon.disconnect

API

All methods listed below are thread-safe.

Basic Functions

BrickletAccelerometer::new(uid, ipcon) → accelerometer
Parameters:
  • uid -- str
  • ipcon -- IPConnection

Creates an object with the unique device ID uid:

accelerometer = BrickletAccelerometer.new 'YOUR_DEVICE_UID', ipcon

This object can then be used after the IP Connection is connected (see examples above).

BrickletAccelerometer#get_acceleration → [int, int, int]

Returns the acceleration in x, y and z direction. The values are given in g/1000 (1g = 9.80665m/s²), not to be confused with grams.

If you want to get the acceleration periodically, it is recommended to use the ::CALLBACK_ACCELERATION callback and set the period with #set_acceleration_callback_period.

The returned array has the values x, y and z.

BrickletAccelerometer#get_temperature → int

Returns the temperature of the accelerometer in °C.

BrickletAccelerometer#led_on → nil

Enables the LED on the Bricklet.

BrickletAccelerometer#led_off → nil

Disables the LED on the Bricklet.

BrickletAccelerometer#is_led_on → bool

Returns true if the LED is enabled, false otherwise.

Advanced Functions

BrickletAccelerometer#set_configuration(data_rate, full_scale, filter_bandwidth) → nil
Parameters:
  • data_rate -- int
  • full_scale -- int
  • filter_bandwidth -- int

Configures the data rate, full scale range and filter bandwidth. Possible values are:

  • Data rate of 0Hz to 1600Hz.
  • Full scale range of -2G to +2G up to -16G to +16G.
  • Filter bandwidth between 50Hz and 800Hz.

Decreasing data rate or full scale range will also decrease the noise on the data.

The default values are 100Hz data rate, -4G to +4G range and 200Hz filter bandwidth.

The following constants are available for this function:

  • BrickletAccelerometer::DATA_RATE_OFF = 0
  • BrickletAccelerometer::DATA_RATE_3HZ = 1
  • BrickletAccelerometer::DATA_RATE_6HZ = 2
  • BrickletAccelerometer::DATA_RATE_12HZ = 3
  • BrickletAccelerometer::DATA_RATE_25HZ = 4
  • BrickletAccelerometer::DATA_RATE_50HZ = 5
  • BrickletAccelerometer::DATA_RATE_100HZ = 6
  • BrickletAccelerometer::DATA_RATE_400HZ = 7
  • BrickletAccelerometer::DATA_RATE_800HZ = 8
  • BrickletAccelerometer::DATA_RATE_1600HZ = 9
  • BrickletAccelerometer::FULL_SCALE_2G = 0
  • BrickletAccelerometer::FULL_SCALE_4G = 1
  • BrickletAccelerometer::FULL_SCALE_6G = 2
  • BrickletAccelerometer::FULL_SCALE_8G = 3
  • BrickletAccelerometer::FULL_SCALE_16G = 4
  • BrickletAccelerometer::FILTER_BANDWIDTH_800HZ = 0
  • BrickletAccelerometer::FILTER_BANDWIDTH_400HZ = 1
  • BrickletAccelerometer::FILTER_BANDWIDTH_200HZ = 2
  • BrickletAccelerometer::FILTER_BANDWIDTH_50HZ = 3
BrickletAccelerometer#get_configuration → [int, int, int]

Returns the configuration as set by #set_configuration.

The following constants are available for this function:

  • BrickletAccelerometer::DATA_RATE_OFF = 0
  • BrickletAccelerometer::DATA_RATE_3HZ = 1
  • BrickletAccelerometer::DATA_RATE_6HZ = 2
  • BrickletAccelerometer::DATA_RATE_12HZ = 3
  • BrickletAccelerometer::DATA_RATE_25HZ = 4
  • BrickletAccelerometer::DATA_RATE_50HZ = 5
  • BrickletAccelerometer::DATA_RATE_100HZ = 6
  • BrickletAccelerometer::DATA_RATE_400HZ = 7
  • BrickletAccelerometer::DATA_RATE_800HZ = 8
  • BrickletAccelerometer::DATA_RATE_1600HZ = 9
  • BrickletAccelerometer::FULL_SCALE_2G = 0
  • BrickletAccelerometer::FULL_SCALE_4G = 1
  • BrickletAccelerometer::FULL_SCALE_6G = 2
  • BrickletAccelerometer::FULL_SCALE_8G = 3
  • BrickletAccelerometer::FULL_SCALE_16G = 4
  • BrickletAccelerometer::FILTER_BANDWIDTH_800HZ = 0
  • BrickletAccelerometer::FILTER_BANDWIDTH_400HZ = 1
  • BrickletAccelerometer::FILTER_BANDWIDTH_200HZ = 2
  • BrickletAccelerometer::FILTER_BANDWIDTH_50HZ = 3

The returned array has the values data_rate, full_scale and filter_bandwidth.

BrickletAccelerometer#get_api_version → [int, int, int]

Returns the version of the API definition (major, minor, revision) 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.

BrickletAccelerometer#get_response_expected(function_id) → bool
Parameters:function_id -- int

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 #set_response_expected. 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 send and errors are silently ignored, because they cannot be detected.

See #set_response_expected for the list of function ID constants available for this function.

BrickletAccelerometer#set_response_expected(function_id, response_expected) → nil
Parameters:
  • function_id -- int
  • response_expected -- 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 send and errors are silently ignored, because they cannot be detected.

The following function ID constants are available for this function:

  • BrickletAccelerometer::FUNCTION_SET_ACCELERATION_CALLBACK_PERIOD = 2
  • BrickletAccelerometer::FUNCTION_SET_ACCELERATION_CALLBACK_THRESHOLD = 4
  • BrickletAccelerometer::FUNCTION_SET_DEBOUNCE_PERIOD = 6
  • BrickletAccelerometer::FUNCTION_SET_CONFIGURATION = 9
  • BrickletAccelerometer::FUNCTION_LED_ON = 11
  • BrickletAccelerometer::FUNCTION_LED_OFF = 12
BrickletAccelerometer#set_response_expected_all(response_expected) → nil
Parameters:response_expected -- bool

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

BrickletAccelerometer#get_identity → [str, str, str, [int, int, int], [int, int, int], int]

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' or 'd'.

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

The returned array has the values uid, connected_uid, position, hardware_version, firmware_version and device_identifier.

Callback Configuration Functions

BrickletAccelerometer#register_callback(callback_id) { |param [, ...]| block } → nil
Parameters:callback_id -- int

Registers the given block with the given callback_id.

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

BrickletAccelerometer#set_acceleration_callback_period(period) → nil
Parameters:period -- int

Sets the period in ms with which the ::CALLBACK_ACCELERATION callback is triggered periodically. A value of 0 turns the callback off.

The ::CALLBACK_ACCELERATION callback is only triggered if the acceleration has changed since the last triggering.

The default value is 0.

BrickletAccelerometer#get_acceleration_callback_period → int

Returns the period as set by #set_acceleration_callback_period.

BrickletAccelerometer#set_acceleration_callback_threshold(option, min_x, max_x, min_y, max_y, min_z, max_z) → nil
Parameters:
  • option -- str
  • min_x -- int
  • max_x -- int
  • min_y -- int
  • max_y -- int
  • min_z -- int
  • max_z -- int

Sets the thresholds for the ::CALLBACK_ACCELERATION_REACHED callback.

The following options are possible:

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

The default value is ('x', 0, 0, 0, 0, 0, 0).

The following constants are available for this function:

  • BrickletAccelerometer::THRESHOLD_OPTION_OFF = 'x'
  • BrickletAccelerometer::THRESHOLD_OPTION_OUTSIDE = 'o'
  • BrickletAccelerometer::THRESHOLD_OPTION_INSIDE = 'i'
  • BrickletAccelerometer::THRESHOLD_OPTION_SMALLER = '<'
  • BrickletAccelerometer::THRESHOLD_OPTION_GREATER = '>'
BrickletAccelerometer#get_acceleration_callback_threshold → [str, int, int, int, int, int, int]

Returns the threshold as set by #set_acceleration_callback_threshold.

The following constants are available for this function:

  • BrickletAccelerometer::THRESHOLD_OPTION_OFF = 'x'
  • BrickletAccelerometer::THRESHOLD_OPTION_OUTSIDE = 'o'
  • BrickletAccelerometer::THRESHOLD_OPTION_INSIDE = 'i'
  • BrickletAccelerometer::THRESHOLD_OPTION_SMALLER = '<'
  • BrickletAccelerometer::THRESHOLD_OPTION_GREATER = '>'

The returned array has the values option, min_x, max_x, min_y, max_y, min_z and max_z.

BrickletAccelerometer#set_debounce_period(debounce) → nil
Parameters:debounce -- int

Sets the period in ms with which the threshold callback

is triggered, if the threshold

keeps being reached.

The default value is 100.

BrickletAccelerometer#get_debounce_period → int

Returns the debounce period as set by #set_debounce_period.

Callbacks

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done with the #register_callback function of the device object. The first parameter is the callback ID and the second parameter is a block:

accelerometer.register_callback BrickletAccelerometer::CALLBACK_EXAMPLE, do |param|
  puts "#{param}"
end

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

Note

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

BrickletAccelerometer::CALLBACK_ACCELERATION
Parameters:
  • x -- int
  • y -- int
  • z -- int

This callback is triggered periodically with the period that is set by #set_acceleration_callback_period. The parameters are the X, Y and Z acceleration.

The ::CALLBACK_ACCELERATION callback is only triggered if the acceleration has changed since the last triggering.

BrickletAccelerometer::CALLBACK_ACCELERATION_REACHED
Parameters:
  • x -- int
  • y -- int
  • z -- int

This callback is triggered when the threshold as set by #set_acceleration_callback_threshold is reached. The parameters are the X, Y and Z acceleration.

If the threshold keeps being reached, the callback is triggered periodically with the period as set by #set_debounce_period.

Constants

BrickletAccelerometer::DEVICE_IDENTIFIER

This constant is used to identify a Accelerometer Bricklet.

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

BrickletAccelerometer::DEVICE_DISPLAY_NAME

This constant represents the human readable name of a Accelerometer Bricklet.