Visual Basic .NET - Distance IR Bricklet 2.0

This is the description of the Visual Basic .NET API bindings for the Distance IR Bricklet 2.0. General information and technical specifications for the Distance IR Bricklet 2.0 are summarized in its hardware description.

An installation guide for the Visual Basic .NET API bindings is part of their general description.

Examples

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

Simple

Download (ExampleSimple.vb)

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Imports System
Imports Tinkerforge

Module ExampleSimple
    Const HOST As String = "localhost"
    Const PORT As Integer = 4223
    Const UID As String = "XYZ" ' Change XYZ to the UID of your Distance IR Bricklet 2.0

    Sub Main()
        Dim ipcon As New IPConnection() ' Create IP connection
        Dim dir As New BrickletDistanceIRV2(UID, ipcon) ' Create device object

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

        ' Get current distance
        Dim distance As Integer = dir.GetDistance()
        Console.WriteLine("Distance: " + (distance/10.0).ToString() + " cm")

        Console.WriteLine("Press key to exit")
        Console.ReadLine()
        ipcon.Disconnect()
    End Sub
End Module

Callback

Download (ExampleCallback.vb)

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Imports System
Imports Tinkerforge

Module ExampleCallback
    Const HOST As String = "localhost"
    Const PORT As Integer = 4223
    Const UID As String = "XYZ" ' Change XYZ to the UID of your Distance IR Bricklet 2.0

    ' Callback subroutine for distance callback
    Sub DistanceCB(ByVal sender As BrickletDistanceIRV2, ByVal distance As Integer)
        Console.WriteLine("Distance: " + (distance/10.0).ToString() + " cm")
    End Sub

    Sub Main()
        Dim ipcon As New IPConnection() ' Create IP connection
        Dim dir As New BrickletDistanceIRV2(UID, ipcon) ' Create device object

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

        ' Register distance callback to subroutine DistanceCB
        AddHandler dir.DistanceCallback, AddressOf DistanceCB

        ' Set period for distance callback to 1s (1000ms) without a threshold
        dir.SetDistanceCallbackConfiguration(1000, False, "x"C, 0, 0)

        Console.WriteLine("Press key to exit")
        Console.ReadLine()
        ipcon.Disconnect()
    End Sub
End Module

Threshold

Download (ExampleThreshold.vb)

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Imports System
Imports Tinkerforge

Module ExampleThreshold
    Const HOST As String = "localhost"
    Const PORT As Integer = 4223
    Const UID As String = "XYZ" ' Change XYZ to the UID of your Distance IR Bricklet 2.0

    ' Callback subroutine for distance callback
    Sub DistanceCB(ByVal sender As BrickletDistanceIRV2, ByVal distance As Integer)
        Console.WriteLine("Distance: " + (distance/10.0).ToString() + " cm")
    End Sub

    Sub Main()
        Dim ipcon As New IPConnection() ' Create IP connection
        Dim dir As New BrickletDistanceIRV2(UID, ipcon) ' Create device object

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

        ' Register distance callback to subroutine DistanceCB
        AddHandler dir.DistanceCallback, AddressOf DistanceCB

        ' Configure threshold for distance "smaller than 30 cm"
        ' with a debounce period of 1s (1000ms)
        dir.SetDistanceCallbackConfiguration(1000, False, "<"C, 30*10, 0)

        Console.WriteLine("Press key to exit")
        Console.ReadLine()
        ipcon.Disconnect()
    End Sub
End Module

API

Since Visual Basic .NET does not support multiple return values directly, we use the ByRef keyword to return multiple values from a function.

All functions and procedures listed below are thread-safe.

Basic Functions

Class BrickletDistanceIRV2(ByVal uid As String, ByVal ipcon As IPConnection)

Creates an object with the unique device ID uid:

Dim distanceIRV2 As New BrickletDistanceIRV2("YOUR_DEVICE_UID", ipcon)

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

Function BrickletDistanceIRV2.GetDistance() As Integer

Returns the distance measured by the sensor. The value is in mm and possible distance ranges are 40 to 300, 100 to 800 and 200 to 1500, depending on the selected IR sensor.

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

Function BrickletDistanceIRV2.GetAnalogValue() As Long

Returns the analog value as read by a analog-to-digital converter. The value has 21 bit with a range of 0 to 2097151.

This is unfiltered raw data. We made sure that the integration time of the ADC is shorter then the measurement interval of the sensor (10ms vs 16.5ms). So there is no information lost.

If you want to do your own calibration or create your own lookup table you can use this value.

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

Sub BrickletDistanceIRV2.SetMovingAverageConfiguration(ByVal movingAverageLength As Integer)

Sets the length of a moving averaging for the resistance and temperature.

Setting the length to 1 will turn the averaging off. With less averaging, there is more noise on the data.

The range for the averaging is 1-1000.

New data is gathered every ~10ms. With a moving average of length 1000 the resulting averaging window has a length of approximately 10s. If you want to do long term measurements the longest moving average will give the cleanest results.

The default value is 25.

Function BrickletDistanceIRV2.GetMovingAverageConfiguration() As Integer

Returns the moving average configuration as set by SetMovingAverageConfiguration().

Sub BrickletDistanceIRV2.SetDistanceLEDConfig(ByVal config As Byte)

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

The default value is 3 (show distance).

The following constants are available for this function:

  • BrickletDistanceIRV2.DISTANCE_LED_CONFIG_OFF = 0
  • BrickletDistanceIRV2.DISTANCE_LED_CONFIG_ON = 1
  • BrickletDistanceIRV2.DISTANCE_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletDistanceIRV2.DISTANCE_LED_CONFIG_SHOW_DISTANCE = 3
Function BrickletDistanceIRV2.GetDistanceLEDConfig() As Byte

Returns the LED configuration as set by SetDistanceLEDConfig()

The following constants are available for this function:

  • BrickletDistanceIRV2.DISTANCE_LED_CONFIG_OFF = 0
  • BrickletDistanceIRV2.DISTANCE_LED_CONFIG_ON = 1
  • BrickletDistanceIRV2.DISTANCE_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletDistanceIRV2.DISTANCE_LED_CONFIG_SHOW_DISTANCE = 3
Sub BrickletDistanceIRV2.SetSensorType(ByVal sensor As Byte)

Sets the sensor type.

The Bricklet comes configured with the correct sensor type and the type is saved in flash (i.e. the Bricklet retains the information if power is lost).

If you want to change the sensor you can set the type in Brick Viewer, you will likely never need to call this function from your program.

The following constants are available for this function:

  • BrickletDistanceIRV2.SENSOR_TYPE_2Y0A41 = 0
  • BrickletDistanceIRV2.SENSOR_TYPE_2Y0A21 = 1
  • BrickletDistanceIRV2.SENSOR_TYPE_2Y0A02 = 2
Function BrickletDistanceIRV2.GetSensorType() As Byte

Returns the sensor type as set by SetSensorType().

The following constants are available for this function:

  • BrickletDistanceIRV2.SENSOR_TYPE_2Y0A41 = 0
  • BrickletDistanceIRV2.SENSOR_TYPE_2Y0A21 = 1
  • BrickletDistanceIRV2.SENSOR_TYPE_2Y0A02 = 2

Advanced Functions

Function BrickletDistanceIRV2.GetAPIVersion() As Byte()

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.

Function BrickletDistanceIRV2.GetResponseExpected(ByVal functionId As Byte) As 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 send and errors are silently ignored, because they cannot be detected.

See SetResponseExpected() for the list of function ID constants available for this function.

Sub BrickletDistanceIRV2.SetResponseExpected(ByVal functionId As Byte, ByVal responseExpected As 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 send and errors are silently ignored, because they cannot be detected.

The following function ID constants are available for this function:

  • BrickletDistanceIRV2.FUNCTION_SET_DISTANCE_CALLBACK_CONFIGURATION = 2
  • BrickletDistanceIRV2.FUNCTION_SET_ANALOG_VALUE_CALLBACK_CONFIGURATION = 6
  • BrickletDistanceIRV2.FUNCTION_SET_MOVING_AVERAGE_CONFIGURATION = 9
  • BrickletDistanceIRV2.FUNCTION_SET_DISTANCE_LED_CONFIG = 11
  • BrickletDistanceIRV2.FUNCTION_SET_SENSOR_TYPE = 13
  • BrickletDistanceIRV2.FUNCTION_SET_WRITE_FIRMWARE_POINTER = 237
  • BrickletDistanceIRV2.FUNCTION_SET_STATUS_LED_CONFIG = 239
  • BrickletDistanceIRV2.FUNCTION_RESET = 243
  • BrickletDistanceIRV2.FUNCTION_WRITE_UID = 248
Sub BrickletDistanceIRV2.SetResponseExpectedAll(ByVal responseExpected As Boolean)

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

Sub BrickletDistanceIRV2.GetSPITFPErrorCount(ByRef errorCountAckChecksum As Long, ByRef errorCountMessageChecksum As Long, ByRef errorCountFrame As Long, ByRef errorCountOverflow As Long)

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.

Function BrickletDistanceIRV2.SetBootloaderMode(ByVal mode As Byte) As Byte

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:

  • BrickletDistanceIRV2.BOOTLOADER_MODE_BOOTLOADER = 0
  • BrickletDistanceIRV2.BOOTLOADER_MODE_FIRMWARE = 1
  • BrickletDistanceIRV2.BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
  • BrickletDistanceIRV2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
  • BrickletDistanceIRV2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4
  • BrickletDistanceIRV2.BOOTLOADER_STATUS_OK = 0
  • BrickletDistanceIRV2.BOOTLOADER_STATUS_INVALID_MODE = 1
  • BrickletDistanceIRV2.BOOTLOADER_STATUS_NO_CHANGE = 2
  • BrickletDistanceIRV2.BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT = 3
  • BrickletDistanceIRV2.BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT = 4
  • BrickletDistanceIRV2.BOOTLOADER_STATUS_CRC_MISMATCH = 5
Function BrickletDistanceIRV2.GetBootloaderMode() As Byte

Returns the current bootloader mode, see SetBootloaderMode().

The following constants are available for this function:

  • BrickletDistanceIRV2.BOOTLOADER_MODE_BOOTLOADER = 0
  • BrickletDistanceIRV2.BOOTLOADER_MODE_FIRMWARE = 1
  • BrickletDistanceIRV2.BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT = 2
  • BrickletDistanceIRV2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT = 3
  • BrickletDistanceIRV2.BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT = 4
Sub BrickletDistanceIRV2.SetWriteFirmwarePointer(ByVal pointer As Long)

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.

Function BrickletDistanceIRV2.WriteFirmware(ByVal data() As Byte) As Byte

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.

Sub BrickletDistanceIRV2.SetStatusLEDConfig(ByVal config As Byte)

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:

  • BrickletDistanceIRV2.STATUS_LED_CONFIG_OFF = 0
  • BrickletDistanceIRV2.STATUS_LED_CONFIG_ON = 1
  • BrickletDistanceIRV2.STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletDistanceIRV2.STATUS_LED_CONFIG_SHOW_STATUS = 3
Function BrickletDistanceIRV2.GetStatusLEDConfig() As Byte

Returns the configuration as set by SetStatusLEDConfig()

The following constants are available for this function:

  • BrickletDistanceIRV2.STATUS_LED_CONFIG_OFF = 0
  • BrickletDistanceIRV2.STATUS_LED_CONFIG_ON = 1
  • BrickletDistanceIRV2.STATUS_LED_CONFIG_SHOW_HEARTBEAT = 2
  • BrickletDistanceIRV2.STATUS_LED_CONFIG_SHOW_STATUS = 3
Function BrickletDistanceIRV2.GetChipTemperature() As Short

Returns the temperature in °C 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.

Sub BrickletDistanceIRV2.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!

Sub BrickletDistanceIRV2.WriteUID(ByVal uid As Long)

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.

Function BrickletDistanceIRV2.ReadUID() As Long

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

Sub BrickletDistanceIRV2.GetIdentity(ByRef uid As String, ByRef connectedUid As String, ByRef position As Char, ByRef hardwareVersion() As Byte, ByRef firmwareVersion() As Byte, ByRef deviceIdentifier As Integer)

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.

Callback Configuration Functions

Sub BrickletDistanceIRV2.SetDistanceCallbackConfiguration(ByVal period As Long, ByVal valueHasToChange As Boolean, ByVal option As Char, ByVal min As Integer, ByVal max As Integer)

The period in ms 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 default value is (0, false, 'x', 0, 0).

The following constants are available for this function:

  • BrickletDistanceIRV2.THRESHOLD_OPTION_OFF = "x"C
  • BrickletDistanceIRV2.THRESHOLD_OPTION_OUTSIDE = "o"C
  • BrickletDistanceIRV2.THRESHOLD_OPTION_INSIDE = "i"C
  • BrickletDistanceIRV2.THRESHOLD_OPTION_SMALLER = "<"C
  • BrickletDistanceIRV2.THRESHOLD_OPTION_GREATER = ">"C
Sub BrickletDistanceIRV2.GetDistanceCallbackConfiguration(ByRef period As Long, ByRef valueHasToChange As Boolean, ByRef option As Char, ByRef min As Integer, ByRef max As Integer)

Returns the callback configuration as set by SetDistanceCallbackConfiguration().

The following constants are available for this function:

  • BrickletDistanceIRV2.THRESHOLD_OPTION_OFF = "x"C
  • BrickletDistanceIRV2.THRESHOLD_OPTION_OUTSIDE = "o"C
  • BrickletDistanceIRV2.THRESHOLD_OPTION_INSIDE = "i"C
  • BrickletDistanceIRV2.THRESHOLD_OPTION_SMALLER = "<"C
  • BrickletDistanceIRV2.THRESHOLD_OPTION_GREATER = ">"C
Sub BrickletDistanceIRV2.SetAnalogValueCallbackConfiguration(ByVal period As Long, ByVal valueHasToChange As Boolean, ByVal option As Char, ByVal min As Long, ByVal max As Long)

The period in ms is the period with which the AnalogValueCallback 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 AnalogValueCallback 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 default value is (0, false, 'x', 0, 0).

The following constants are available for this function:

  • BrickletDistanceIRV2.THRESHOLD_OPTION_OFF = "x"C
  • BrickletDistanceIRV2.THRESHOLD_OPTION_OUTSIDE = "o"C
  • BrickletDistanceIRV2.THRESHOLD_OPTION_INSIDE = "i"C
  • BrickletDistanceIRV2.THRESHOLD_OPTION_SMALLER = "<"C
  • BrickletDistanceIRV2.THRESHOLD_OPTION_GREATER = ">"C
Sub BrickletDistanceIRV2.GetAnalogValueCallbackConfiguration(ByRef period As Long, ByRef valueHasToChange As Boolean, ByRef option As Char, ByRef min As Long, ByRef max As Long)

Returns the callback configuration as set by SetAnalogValueCallbackConfiguration().

The following constants are available for this function:

  • BrickletDistanceIRV2.THRESHOLD_OPTION_OFF = "x"C
  • BrickletDistanceIRV2.THRESHOLD_OPTION_OUTSIDE = "o"C
  • BrickletDistanceIRV2.THRESHOLD_OPTION_INSIDE = "i"C
  • BrickletDistanceIRV2.THRESHOLD_OPTION_SMALLER = "<"C
  • BrickletDistanceIRV2.THRESHOLD_OPTION_GREATER = ">"C

Callbacks

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done by assigning a procedure to an callback property of the device object:

Sub MyCallback(ByVal sender As BrickletDistanceIRV2, ByVal value As Short)
    Console.WriteLine("Value: {0}", value)
End Sub

AddHandler distanceIRV2.ExampleCallback, AddressOf MyCallback

The available callback property and their 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.

Event BrickletDistanceIRV2.DistanceCallback(ByVal sender As BrickletDistanceIRV2, ByVal distance As Integer)

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

The parameter is the same as GetDistance().

Event BrickletDistanceIRV2.AnalogValueCallback(ByVal sender As BrickletDistanceIRV2, ByVal analogValue As Long)

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

The parameter is the same as GetAnalogValue().

Constants

Const BrickletDistanceIRV2.DEVICE_IDENTIFIER

This constant is used to identify a Distance IR Bricklet 2.0.

The GetIdentity() function and the EnumerateCallback callback of the IP Connection have a deviceIdentifier parameter to specify the Brick's or Bricklet's type.

Const BrickletDistanceIRV2.DEVICE_DISPLAY_NAME

This constant represents the human readable name of a Distance IR Bricklet 2.0.