com.qualcomm.hardware.stmicroelectronics

Class VL53L0X

java.lang.Object

com.qualcomm.robotcore.hardware.I2cDeviceSynchDevice<I2cDeviceSynch>

com.qualcomm.hardware.stmicroelectronics.VL53L0X

All Implemented Interfaces:

DistanceSensor, HardwareDevice, RobotArmingStateNotifier.Callback

Direct Known Subclasses:

Rev2mDistanceSensor

public class VL53L0X
extends I2cDeviceSynchDevice<I2cDeviceSynch>
implements DistanceSensor

VL53L0X implements support for the STMicroelectronics VL53L0x time-of-flight distance sensor.

See Also:

STMicroelectronics VL53L0X Sensor

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	VL53L0X.Register
protected class	VL53L0X.SequenceStepEnables
protected class	VL53L0X.SequenceStepTimeouts

Nested classes/interfaces inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice

HardwareDevice.Manufacturer

Field Summary

Fields

Modifier and Type	Field and Description
static I2cAddr	ADDRESS_I2C_DEFAULT
protected static int	FAKE_DISTANCE_MM
protected int	io_timeout
protected ElapsedTime	ioElapsedTime
protected java.lang.String	MYTAG

Fields inherited from class com.qualcomm.robotcore.hardware.I2cDeviceSynchDevice

deviceClient, deviceClientIsOwned, isInitialized

Fields inherited from interface com.qualcomm.robotcore.hardware.DistanceSensor

distanceOutOfRange

Constructor Summary

Constructors

Constructor and Description
VL53L0X(I2cDeviceSynch deviceClient)

Method Summary

Modifier and Type	Method and Description
protected long	calcMacroPeriod(int vcsel_period_pclks)
protected int	decodeVcselPeriod(int reg_val)
boolean	didTimeoutOccur() Did a timeout occur?
protected boolean	doInitialize() Actually carries out the initialization of the instance.
protected long	encodeTimeout(int timeout_mclks)
java.lang.String	getDeviceName() Returns a string suitable for display to the user as to the type of device.
double	getDistance(DistanceUnit unit) Returns the current distance in the indicated distance units
HardwareDevice.Manufacturer	getManufacturer() Returns an indication of the manufacturer of this device.
byte	getModelID()
protected void	getSequenceStepEnables(VL53L0X.SequenceStepEnables enables)
protected void	getSequenceStepTimeouts(VL53L0X.SequenceStepEnables enables, VL53L0X.SequenceStepTimeouts timeouts)
protected int	getTimeout()
protected int	getVcselPulsePeriod(com.qualcomm.hardware.stmicroelectronics.VL53L0X.vcselPeriodType type)
protected boolean	performSingleRefCalibration(int vhv_init_byte)
protected int	readRangeContinuousMillimeters()
protected byte	readReg(byte bVal)
protected byte	readReg(int iVal)
protected byte	readReg(VL53L0X.Register reg)
protected short	readShort(VL53L0X.Register reg)
protected int	readUnsignedByte(VL53L0X.Register reg)
protected boolean	setMeasurementTimingBudget(long budget_us)
protected void	setTimeout(int timeout)
protected void	startContinuous()
protected void	startContinuous(int period_ms)
protected void	stopContinuous()
protected long	timeoutMclksToMicroseconds(int timeout_period_mclks, int vcsel_period_pclks)
protected long	timeoutMicrosecondsToMclks(long timeout_period_us, int vcsel_period_pclks)
protected void	writeReg(byte addr, byte value)
protected void	writeReg(byte addr, byte value, I2cWaitControl waitControl)
protected void	writeReg(int addr, int value)
protected void	writeReg(int addr, int value, I2cWaitControl waitControl)
protected void	writeReg(VL53L0X.Register reg, byte value)
protected void	writeReg(VL53L0X.Register reg, byte value, I2cWaitControl waitControl)
protected void	writeShort(VL53L0X.Register reg, short value)

Methods inherited from class com.qualcomm.robotcore.hardware.I2cDeviceSynchDevice

close, disengage, engage, getConnectionInfo, getDeviceClient, getVersion, initialize, initializeIfNecessary, onModuleStateChange, registerArmingStateCallback, resetDeviceConfigurationForOpMode

Methods inherited from class java.lang.Object

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

Methods inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice

close, getConnectionInfo, getVersion, resetDeviceConfigurationForOpMode

Field Detail

ADDRESS_I2C_DEFAULT

public static final I2cAddr ADDRESS_I2C_DEFAULT

FAKE_DISTANCE_MM

protected static final int FAKE_DISTANCE_MM

See Also:

Constant Field Values

MYTAG

protected java.lang.String MYTAG

io_timeout

protected int io_timeout

ioElapsedTime

protected ElapsedTime ioElapsedTime

Constructor Detail

VL53L0X

public VL53L0X(I2cDeviceSynch deviceClient)

Method Detail

getManufacturer

public HardwareDevice.Manufacturer getManufacturer()

Description copied from interface: HardwareDevice

Returns an indication of the manufacturer of this device.

Specified by:

getManufacturer in interface HardwareDevice

Returns:

the device's manufacturer

getDeviceName

public java.lang.String getDeviceName()

Description copied from interface: HardwareDevice

Returns a string suitable for display to the user as to the type of device. Note that this is a device-type-specific name; it has nothing to do with the name by which a user might have configured the device in a robot configuration.

Specified by:

getDeviceName in interface HardwareDevice

Returns:

device manufacturer and name

getModelID

public byte getModelID()

getDistance

public double getDistance(DistanceUnit unit)

Description copied from interface: DistanceSensor

Returns the current distance in the indicated distance units

Specified by:

getDistance in interface DistanceSensor

Parameters:

unit - the unit of distance in which the result should be returned

Returns:

the current distance sas measured by the sensor. If no reading is available (perhaps the sensor is out of range), then DistanceSensor.distanceOutOfRange is returned;

didTimeoutOccur

public boolean didTimeoutOccur()

Did a timeout occur?

doInitialize

protected boolean doInitialize()

Description copied from class: I2cDeviceSynchDevice

Actually carries out the initialization of the instance.

Specified by:

doInitialize in class I2cDeviceSynchDevice<I2cDeviceSynch>

Returns:

Whether the initialization was successful or not

getSequenceStepEnables

protected void getSequenceStepEnables(VL53L0X.SequenceStepEnables enables)

getSequenceStepTimeouts

protected void getSequenceStepTimeouts(VL53L0X.SequenceStepEnables enables,
                                       VL53L0X.SequenceStepTimeouts timeouts)

getVcselPulsePeriod

protected int getVcselPulsePeriod(com.qualcomm.hardware.stmicroelectronics.VL53L0X.vcselPeriodType type)

decodeVcselPeriod

protected int decodeVcselPeriod(int reg_val)

timeoutMclksToMicroseconds

protected long timeoutMclksToMicroseconds(int timeout_period_mclks,
                                          int vcsel_period_pclks)

calcMacroPeriod

protected long calcMacroPeriod(int vcsel_period_pclks)

setMeasurementTimingBudget

protected boolean setMeasurementTimingBudget(long budget_us)

timeoutMicrosecondsToMclks

protected long timeoutMicrosecondsToMclks(long timeout_period_us,
                                          int vcsel_period_pclks)

encodeTimeout

protected long encodeTimeout(int timeout_mclks)

performSingleRefCalibration

protected boolean performSingleRefCalibration(int vhv_init_byte)

startContinuous

protected void startContinuous()

startContinuous

protected void startContinuous(int period_ms)

stopContinuous

protected void stopContinuous()

setTimeout

protected void setTimeout(int timeout)

getTimeout

protected int getTimeout()

readRangeContinuousMillimeters

protected int readRangeContinuousMillimeters()

readReg

protected byte readReg(VL53L0X.Register reg)

readReg

protected byte readReg(byte bVal)

readReg

protected byte readReg(int iVal)

writeReg

protected void writeReg(VL53L0X.Register reg,
                        byte value)

writeReg

protected void writeReg(byte addr,
                        byte value)

writeReg

protected void writeReg(int addr,
                        int value)

writeReg

protected void writeReg(VL53L0X.Register reg,
                        byte value,
                        I2cWaitControl waitControl)

writeReg

protected void writeReg(byte addr,
                        byte value,
                        I2cWaitControl waitControl)

writeReg

protected void writeReg(int addr,
                        int value,
                        I2cWaitControl waitControl)

readUnsignedByte

protected int readUnsignedByte(VL53L0X.Register reg)

writeShort

protected void writeShort(VL53L0X.Register reg,
                          short value)

readShort

protected short readShort(VL53L0X.Register reg)