Package trclib.archive

Class TrcLidarLite

java.lang.Object

trclib.archive.TrcLidarLite

public class TrcLidarLite
extends Object

This class implements the Lidar Lite v3 Laser Ranging sensor.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	TrcLidarLite.RequestId

Field Summary

Fields

Modifier and Type	Field	Description
private static final byte	ACQCMD_DISTANCE_NO_BIAS
private static final byte	ACQCMD_DISTANCE_WITH_BIAS
private static final byte	ACQCMD_RESET
static final int	DEF_I2C_ADDRESS_7BIT
private final TrcSerialBusDevice	device
private final TrcSensor.SensorData<Double>	distance
private final String	instanceName
private final TrcEvent	notifyEvent
private static final int	REG_ACQ_COMMAND
private static final int	REG_FULL_DELAY_HIGH
private static final int	REG_STATUS
private boolean	started
private final TrcDbgTrace	tracer

Constructor Summary

Constructors

Constructor	Description
TrcLidarLite(String instanceName, TrcSerialBusDevice device)	Constructor: Creates an instance of the object.

Method Summary

Modifier and Type	Method	Description
TrcSensor.SensorData<Double>	getDistance()	This method returns the distance measurement data with bias correction.
void	notify(Object context)	This method is called when the read request is completed.
void	start()	This method starts the reading device data by queuing the initial read request if not already.
private void	writeAcquisitionCommand(byte command)	This method writes an acquisition command to the device.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

DEF_I2C_ADDRESS_7BIT

public static final int DEF_I2C_ADDRESS_7BIT

See Also:

• Constant Field Values

REG_ACQ_COMMAND

private static final int REG_ACQ_COMMAND

See Also:

• Constant Field Values

REG_STATUS

private static final int REG_STATUS

See Also:

• Constant Field Values

REG_FULL_DELAY_HIGH

private static final int REG_FULL_DELAY_HIGH

See Also:

• Constant Field Values

ACQCMD_RESET

private static final byte ACQCMD_RESET

See Also:

• Constant Field Values

ACQCMD_DISTANCE_NO_BIAS

private static final byte ACQCMD_DISTANCE_NO_BIAS

See Also:

• Constant Field Values

ACQCMD_DISTANCE_WITH_BIAS

private static final byte ACQCMD_DISTANCE_WITH_BIAS

See Also:

• Constant Field Values

tracer

private final TrcDbgTrace tracer

instanceName

private final String instanceName

device

private final TrcSerialBusDevice device

notifyEvent

private final TrcEvent notifyEvent

started

private boolean started

distance

private final TrcSensor.SensorData<Double> distance

Constructor Details

TrcLidarLite

public TrcLidarLite(String instanceName,
 TrcSerialBusDevice device)

Constructor: Creates an instance of the object.

Parameters:

instanceName - specifies the instance name.

device - specifies the device object.

Method Details

start

public void start()

This method starts the reading device data by queuing the initial read request if not already.

writeAcquisitionCommand

private void writeAcquisitionCommand(byte command)

This method writes an acquisition command to the device.

Parameters:

command - specifies the acquisition command.

getDistance

public TrcSensor.SensorData<Double> getDistance()

This method returns the distance measurement data with bias correction.

Returns:

distance measurement data in cm.

notify

public void notify(Object context)

This method is called when the read request is completed.

Parameters:

context - specifies the read request.