C# - DC Brick

This is the description of the C# API bindings for the DC Brick. General information and technical specifications for the DC Brick are summarized in its hardware description.

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

Examples

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

Configuration

Download (ExampleConfiguration.cs)

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using Tinkerforge;

class Example
{
    private static string HOST = "localhost";
    private static int PORT = 4223;
    private static string UID = "aetiNB3mX2u"; // Change to your UID

    static void Main() 
    {
        IPConnection ipcon = new IPConnection(); // Create IP connection
        BrickDC dc = new BrickDC(UID, ipcon); // Create device object

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

        dc.SetPWMFrequency(10000); // Use PWM frequency of 10kHz
        dc.SetDriveMode(1); // Use 1 = Drive/Coast instead of 0 = Drive/Brake

        dc.Enable();
        dc.SetAcceleration(5000); // Slow acceleration
        dc.SetVelocity(32767); // Full speed forward

        System.Console.WriteLine("Press enter to exit");
        System.Console.ReadLine();
        dc.Disable();
        ipcon.Disconnect();
    }
}

Callback

Download (ExampleCallback.cs)

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using Tinkerforge;

class Example
{
    private static string HOST = "localhost";
    private static int PORT = 4223;
    private static string UID = "aetiNB3mX2u"; // Change to your UID


    // Use velocity reached callback to swing back and forth between
    // full speed forward and full speed backward
    static void ReachedCB(BrickDC sender, short velocity)
    {
        if(velocity == 32767)
        {
            System.Console.WriteLine("Velocity: Full Speed forward, turning backward");
            sender.SetVelocity(-32767);
        }
        else if(velocity == -32767)
        {
            System.Console.WriteLine("Velocity: Full Speed backward, turning forward");
            sender.SetVelocity(32767);
        }
        else
        {
            // Can only happen if another program sets velocity
            System.Console.WriteLine("Error");
        }
    }

    static void Main() 
    {
        IPConnection ipcon = new IPConnection(); // Create IP connection
        BrickDC dc = new BrickDC(UID, ipcon); // Create device object

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

        // Register "velocity reached callback" to ReachedCB
        // ReachedCB will be called every time a velocity set with
        // SetVelocity is reached
        dc.VelocityReached += ReachedCB;

        dc.Enable();
        // The acceleration has to be smaller or equal to the maximum acceleration
        // of the DC motor, otherwise ReachedCB will be called too early
        dc.SetAcceleration(5000); // Slow acceleration
        dc.SetVelocity(32767); // Full speed forward

        System.Console.WriteLine("Press enter to exit");
        System.Console.ReadLine();
        dc.Disable();
        ipcon.Disconnect();
    }
}

API

Generally, every method of the C# bindings that returns a value can throw a Tinkerforge.TimeoutException. This exception gets thrown if the device did not respond. If a cable based connection is used, it is unlikely that this exception gets thrown (assuming nobody plugs the device out). However, if a wireless connection is used, timeouts will occur if the distance to the device gets too big.

Since C# does not support multiple return values directly, we use the out keyword to return multiple values from a method.

The namespace for all Brick/Bricklet bindings and the IPConnection is Tinkerforge.*.

All methods listed below are thread-safe.

Basic Functions

public class BrickDC(String uid, IPConnection ipcon)

Creates an object with the unique device ID uid:

BrickDC dc = new BrickDC("YOUR_DEVICE_UID", ipcon);

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

public void SetVelocity(short velocity)

Sets the velocity of the motor. Whereas -32767 is full speed backward, 0 is stop and 32767 is full speed forward. Depending on the acceleration (see SetAcceleration()), the motor is not immediately brought to the velocity but smoothly accelerated.

The velocity describes the duty cycle of the PWM with which the motor is controlled, e.g. a velocity of 3277 sets a PWM with a 10% duty cycle. You can not only control the duty cycle of the PWM but also the frequency, see SetPWMFrequency().

The default velocity is 0.

public short GetVelocity()

Returns the velocity as set by SetVelocity().

public short GetCurrentVelocity()

Returns the current velocity of the motor. This value is different from GetVelocity() whenever the motor is currently accelerating to a goal set by SetVelocity().

public void SetAcceleration(int acceleration)

Sets the acceleration of the motor. It is given in velocity/s. An acceleration of 10000 means, that every second the velocity is increased by 10000 (or about 30% duty cycle).

For example: If the current velocity is 0 and you want to accelerate to a velocity of 16000 (about 50% duty cycle) in 10 seconds, you should set an acceleration of 1600.

If acceleration is set to 0, there is no speed ramping, i.e. a new velocity is immediately given to the motor.

The default acceleration is 10000.

public int GetAcceleration()

Returns the acceleration as set by SetAcceleration().

public void FullBrake()

Executes an active full brake.

Warning

This function is for emergency purposes, where an immediate brake is necessary. Depending on the current velocity and the strength of the motor, a full brake can be quite violent.

Call SetVelocity() with 0 if you just want to stop the motor.

public void Enable()

Enables the driver chip. The driver parameters can be configured (velocity, acceleration, etc) before it is enabled.

public void Disable()

Disables the driver chip. The configurations are kept (velocity, acceleration, etc) but the motor is not driven until it is enabled again.

public bool IsEnabled()

Returns true if the driver chip is enabled, false otherwise.

Advanced Functions

public void SetPWMFrequency(int frequency)

Sets the frequency (in Hz) of the PWM with which the motor is driven. The possible range of the frequency is 1-20000Hz. Often a high frequency is less noisy and the motor runs smoother. However, with a low frequency there are less switches and therefore fewer switching losses. Also with most motors lower frequencies enable higher torque.

If you have no idea what all this means, just ignore this function and use the default frequency, it will very likely work fine.

The default frequency is 15 kHz.

public int GetPWMFrequency()

Returns the PWM frequency (in Hz) as set by SetPWMFrequency().

public int GetStackInputVoltage()

Returns the stack input voltage in mV. The stack input voltage is the voltage that is supplied via the stack, i.e. it is given by a Step-Down or Step-Up Power Supply.

public int GetExternalInputVoltage()

Returns the external input voltage in mV. The external input voltage is given via the black power input connector on the DC Brick.

If there is an external input voltage and a stack input voltage, the motor will be driven by the external input voltage. If there is only a stack voltage present, the motor will be driven by this voltage.

Warning

This means, if you have a high stack voltage and a low external voltage, the motor will be driven with the low external voltage. If you then remove the external connection, it will immediately be driven by the high stack voltage.

public int GetCurrentConsumption()

Returns the current consumption of the motor in mA.

public void SetDriveMode(byte mode)

Sets the drive mode. Possible modes are:

  • 0 = Drive/Brake
  • 1 = Drive/Coast

These modes are different kinds of motor controls.

In Drive/Brake mode, the motor is always either driving or braking. There is no freewheeling. Advantages are: A more linear correlation between PWM and velocity, more exact accelerations and the possibility to drive with slower velocities.

In Drive/Coast mode, the motor is always either driving or freewheeling. Advantages are: Less current consumption and less demands on the motor and driver chip.

The default value is 0 = Drive/Brake.

The following constants are available for this function:

  • BrickDC.DRIVE_MODE_DRIVE_BRAKE = 0
  • BrickDC.DRIVE_MODE_DRIVE_COAST = 1
public byte GetDriveMode()

Returns the drive mode, as set by SetDriveMode().

The following constants are available for this function:

  • BrickDC.DRIVE_MODE_DRIVE_BRAKE = 0
  • BrickDC.DRIVE_MODE_DRIVE_COAST = 1
public byte[] GetAPIVersion()

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.

public bool GetResponseExpected(byte functionId)

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.

public void SetResponseExpected(byte functionId, bool responseExpected)

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 and callbacks it is always disabled.

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:

  • BrickDC.FUNCTION_SET_VELOCITY = 1
  • BrickDC.FUNCTION_SET_ACCELERATION = 4
  • BrickDC.FUNCTION_SET_PWM_FREQUENCY = 6
  • BrickDC.FUNCTION_FULL_BRAKE = 8
  • BrickDC.FUNCTION_ENABLE = 12
  • BrickDC.FUNCTION_DISABLE = 13
  • BrickDC.FUNCTION_SET_MINIMUM_VOLTAGE = 15
  • BrickDC.FUNCTION_SET_DRIVE_MODE = 17
  • BrickDC.FUNCTION_SET_CURRENT_VELOCITY_PERIOD = 19
  • BrickDC.FUNCTION_ENABLE_STATUS_LED = 238
  • BrickDC.FUNCTION_DISABLE_STATUS_LED = 239
  • BrickDC.FUNCTION_RESET = 243
public void SetResponseExpectedAll(bool responseExpected)

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

public void EnableStatusLED()

Enables the status LED.

The status LED is the blue LED next to the USB connector. If enabled is is on and it flickers if data is transfered. If disabled it is always off.

The default state is enabled.

New in version 2.3.1 (Firmware).

public void DisableStatusLED()

Disables the status LED.

The status LED is the blue LED next to the USB connector. If enabled is is on and it flickers if data is transfered. If disabled it is always off.

The default state is enabled.

New in version 2.3.1 (Firmware).

public bool IsStatusLEDEnabled()

Returns true if the status LED is enabled, false otherwise.

New in version 2.3.1 (Firmware).

public void GetProtocol1BrickletName(char port, out byte protocolVersion, out byte[] firmwareVersion, out string name)

Returns the firmware and protocol version and the name of the Bricklet for a given port.

This functions sole purpose is to allow automatic flashing of v1.x.y Bricklet plugins.

public short GetChipTemperature()

Returns the temperature in °C/10 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 an accuracy of +-15%. Practically it is only useful as an indicator for temperature changes.

public void Reset()

Calling this function will reset the Brick. Calling this function on a Brick inside of a stack will reset the whole stack.

After a reset you have to create new device objects, calling functions on the existing ones will result in undefined behavior!

public void GetIdentity(out string uid, out string connectedUid, out char position, out byte[] hardwareVersion, out byte[] firmwareVersion, out int deviceIdentifier)

Returns the UID, the UID where the Brick is connected to, the position, the hardware and firmware version as well as the device identifier.

The position can be '0'-'8' (stack position).

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

Callback Configuration Functions

public void SetMinimumVoltage(int voltage)

Sets the minimum voltage in mV, below which the UnderVoltage callback is triggered. The minimum possible value that works with the DC Brick is 6V. You can use this function to detect the discharge of a battery that is used to drive the motor. If you have a fixed power supply, you likely do not need this functionality.

The default value is 6V.

public int GetMinimumVoltage()

Returns the minimum voltage as set by SetMinimumVoltage()

public void SetCurrentVelocityPeriod(int period)

Sets a period in ms with which the CurrentVelocity callback is triggered. A period of 0 turns the callback off.

The default value is 0.

public int GetCurrentVelocityPeriod()

Returns the period as set by SetCurrentVelocityPeriod().

Callbacks

Callbacks can be registered to receive time critical or recurring data from the device. The registration is done by appending your callback handler to the corresponding event:

void Callback(BrickDC sender, int value)
{
    System.Console.WriteLine("Value: " + value);
}

dc.ExampleCallback += Callback;

The available events 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.

public event UnderVoltage(BrickDC sender, int voltage)

This callback is triggered when the input voltage drops below the value set by SetMinimumVoltage(). The parameter is the current voltage given in mV.

public event EmergencyShutdown(BrickDC sender)

This callback is triggered if either the current consumption is too high (above 5A) or the temperature of the driver chip is too high (above 175°C). These two possibilities are essentially the same, since the temperature will reach this threshold immediately if the motor consumes too much current. In case of a voltage below 3.3V (external or stack) this callback is triggered as well.

If this callback is triggered, the driver chip gets disabled at the same time. That means, Enable() has to be called to drive the motor again.

Note

This callback only works in Drive/Brake mode (see SetDriveMode()). In Drive/Coast mode it is unfortunately impossible to reliably read the overcurrent/overtemperature signal from the driver chip.

public event VelocityReached(BrickDC sender, short velocity)

This callback is triggered whenever a set velocity is reached. For example: If a velocity of 0 is present, acceleration is set to 5000 and velocity to 10000, VelocityReached will be triggered after about 2 seconds, when the set velocity is actually reached.

Note

Since we can't get any feedback from the DC motor, this only works if the acceleration (see SetAcceleration()) is set smaller or equal to the maximum acceleration of the motor. Otherwise the motor will lag behind the control value and the callback will be triggered too early.

public event CurrentVelocity(BrickDC sender, short velocity)

This callback is triggered with the period that is set by SetCurrentVelocityPeriod(). The parameter is the current velocity used by the motor.

CurrentVelocity is only triggered after the set period if there is a change in the velocity.

Constants

public int DEVICE_IDENTIFIER

This constant is used to identify a DC Brick.

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

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