TofControl Namespace Reference

Functions
int8_t	init (int8_t offset_left=0, int8_t offset_right=0)
	Initialize ToF sensors.
int8_t	dispose ()
	Dispose/stop the ToF subsystem and release resources.
int8_t	setup_continuous (uint16_t interval_ms=50, uint8_t distance=0)
	Configure continuous reading for gesture detection and threshold events.
std::vector< TofData >	getSensorsData ()
	Read both sensors once and return the latest values.
bool	isActive ()
	Check whether the ToF subsystem is active (initialized).
bool	isReading ()
	Check whether the subsystem is currently performing frequent/continuous readings.
float	getVersion ()
	Get current library version.

Function Documentation

dispose()

int8_t TofControl::dispose

(

)

Dispose/stop the ToF subsystem and release resources.

Returns

Status code:

• 0 : success
• 1 : not initialized

Examples

TofControl/main.cpp.

getSensorsData()

std::vector< TofData > TofControl::getSensorsData

(

)

Read both sensors once and return the latest values.

Continuous setup is not required for single reads.

Returns

Vector containing left and right sensor data.

Examples

TofControl/main.cpp.

getVersion()

float TofControl::getVersion

(

)

Get current library version.

Original note: format 0.XYZ (3 digits after major).

Returns

Version as float.

Examples

TofControl/main.cpp.

init()

int8_t TofControl::init	(	int8_t	offset_left = 0,
		int8_t	offset_right = 0 )

Initialize ToF sensors.

Parameters

offset_left	Offset to apply to left sensor readings.
offset_right	Offset to apply to right sensor readings.

Returns

Status code:

• 0 : success
• 1 : already running
• -1 : both sensor init failed
• -2 : left sensor init failed
• -3 : right sensor init failed

Examples

TofControl/main.cpp.

isActive()

bool TofControl::isActive

(

)

Check whether the ToF subsystem is active (initialized).

Returns

true if initialized; false otherwise.

isReading()

bool TofControl::isReading

(

)

Check whether the subsystem is currently performing frequent/continuous readings.

Returns

true if continuous reading is active; false otherwise.

setup_continuous()

int8_t TofControl::setup_continuous	(	uint16_t	interval_ms = 50,
		uint8_t	distance = 0 )

Configure continuous reading for gesture detection and threshold events.

Parameters

interval_ms	Read interval in milliseconds (max = 2550 ms). Use 0 to stop continuous reading.
distance	Proximity threshold distance in millimeters: 0 disables proximity threshold events 120 mm is the maximum supported threshold

Returns

Status code:

• 0 : success
• 1 : already running
• -1 : interval_ms out of range (max = 2550)
• -2 : ToF devices not ready
• -3 : proximity distance out of range (0..120 mm)

Note

For better gesture detection, recommended interval is 30..80 ms (ideal: 50 ms).

Examples

TofControl/main.cpp.