Delphi/Lazarus - Stepper Brick – Tinkerforge

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# Delphi/Lazarus - Stepper Brick

This is the description of the Delphi/Lazarus API bindings for the Stepper Brick. General information and technical specifications for the Stepper Brick are summarized in its hardware description.

An installation guide for the Delphi/Lazarus API bindings is part of their general description.

## Examples

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

### Configuration

Download (ExampleConfiguration.pas)

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    program ExampleConfiguration;

    {$ifdef MSWINDOWS}{$apptype CONSOLE}{$endif}
    {$ifdef FPC}{$mode OBJFPC}{$H+}{$endif}

    uses
      SysUtils, IPConnection, BrickStepper;

    type
      TExample = class
      private
        ipcon: TIPConnection;
        stepper: TBrickStepper;
      public
        procedure Execute;
      end;

    const
      HOST = 'localhost';
      PORT = 4223;
      UID = '9eggGYnDtnd'; { Change to your UID }

    var
      e: TExample;

    procedure TExample.Execute;
    begin
      { Create IP connection }
      ipcon := TIPConnection.Create;

      { Create device object }
      stepper := TBrickStepper.Create(UID, ipcon);

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

      stepper.SetMotorCurrent(800); { 800mA }
      stepper.SetStepMode(8); { 1/8 step mode }
      stepper.SetMaxVelocity(2000); { Velocity 2000 steps/s }

      { Slow acceleration (500 steps/s^2),
        Fast deacceleration (5000 steps/s^2) }
      stepper.SetSpeedRamping(500, 5000);

      stepper.Enable;
      stepper.SetSteps(60000); { Drive 60000 steps forward }

      WriteLn('Press key to exit');
      ReadLn;
      ipcon.Destroy; { Calls ipcon.Disconnect internally }
    end;

    begin
      e := TExample.Create;
      e.Execute;
      e.Destroy;
    end.

### Callback

Download (ExampleCallback.pas)

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    program ExampleCallback;

    {$ifdef MSWINDOWS}{$apptype CONSOLE}{$endif}
    {$ifdef FPC}{$mode OBJFPC}{$H+}{$endif}

    uses
      SysUtils, IPConnection, BrickStepper;

    type
      TExample = class
      private
        ipcon: TIPConnection;
        stepper: TBrickStepper;
      public
        procedure ReachedCB(sender: TBrickStepper; const position: longint);
        procedure Execute;
      end;

    const
      HOST = 'localhost';
      PORT = 4223;
      UID = '9eggGYnDtnd'; { Change to your UID }

    var
      e: TExample;

    { Use position reached callback to program random movement }
    procedure TExample.ReachedCB(sender: TBrickStepper; const position: longint);
    var steps: longint; vel: smallint; acc, dec: word;
    begin
      if (Random(2) = 0) then begin
        steps := Random(4000) + 1000; { steps (forward) }
        WriteLn(Format('Driving forward: %d steps', [steps]));
      end
      else begin
        steps := -(Random(4000) + 1000); { steps (backward) }
        WriteLn(Format('Driving backward: %d steps', [steps]));
      end;

      vel := Random(1800) + 200; { steps/s }
      acc := Random(900) + 100; { steps/s^2 }
      dec := Random(900) + 100; { steps/s^2 }
      WriteLn(Format('Configuration (vel, acc, dec): %d, %d %d', [vel, acc, dec]));

      sender.SetSpeedRamping(acc, dec);
      sender.SetMaxVelocity(vel);
      sender.SetSteps(steps);
    end;

    procedure TExample.Execute;
    begin
      { Create IP connection }
      ipcon := TIPConnection.Create;

      { Create device object }
      stepper := TBrickStepper.Create(UID, ipcon);

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

      { Register "position reached callback" to procedure ReachedCB.
        ReachedCB will be called every time a position set with
        SetSteps or SetTargetPosition is reached }
      stepper.OnPositionReached := {$ifdef FPC}@{$endif}ReachedCB;

      stepper.Enable;

      { Drive one step forward to get things going }
      stepper.SetSteps(1);

      WriteLn('Press key to exit');
      ReadLn;
      ipcon.Destroy; { Calls ipcon.Disconnect internally }
    end;

    begin
      e := TExample.Create;
      e.Execute;
      e.Destroy;
    end.

## API

Since Delphi does not support multiple return values directly, we use the `out` keyword to return multiple values from a function.

All functions and procedures listed below are thread-safe.

### Basic Functions

constructor `TBrickStepper.``Create`(const uid: string; ipcon: TIPConnection)

  Creates an object with the unique device ID `uid`:

      stepper := TBrickStepper.Create('YOUR_DEVICE_UID', ipcon);

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

procedure `TBrickStepper.``SetMaxVelocity`(const velocity: word)

  Sets the maximum velocity of the stepper motor in steps per second. This function does not start the motor, it merely sets the maximum velocity the stepper motor is accelerated to. To get the motor running use either `SetTargetPosition`, `SetSteps`, `DriveForward` or `DriveBackward`.

function `TBrickStepper.``GetMaxVelocity`: word

  Returns the velocity as set by `SetMaxVelocity`.

function `TBrickStepper.``GetCurrentVelocity`: word

  Returns the current velocity of the stepper motor in steps per second.

procedure `TBrickStepper.``SetSpeedRamping`(const acceleration: word; const deacceleration: word)

  Sets the acceleration and deacceleration of the stepper motor. The values are given in steps/s². An acceleration of 1000 means, that every second the velocity is increased by 1000 steps/s.

  For example: If the current velocity is 0 and you want to accelerate to a velocity of 8000 steps/s in 10 seconds, you should set an acceleration of 800 steps/s².

  An acceleration/deacceleration of 0 means instantaneous acceleration/deacceleration (not recommended)

  The default value is 1000 for both

procedure `TBrickStepper.``GetSpeedRamping`(out acceleration: word; out deacceleration: word)

  Returns the acceleration and deacceleration as set by `SetSpeedRamping`.

procedure `TBrickStepper.``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 `Stop` if you just want to stop the motor.

procedure `TBrickStepper.``SetSteps`(const steps: longint)

  Sets the number of steps the stepper motor should run. Positive values will drive the motor forward and negative values backward. The velocity, acceleration and deacceleration as set by `SetMaxVelocity` and `SetSpeedRamping` will be used.

function `TBrickStepper.``GetSteps`: longint

  Returns the last steps as set by `SetSteps`.

function `TBrickStepper.``GetRemainingSteps`: longint

  Returns the remaining steps of the last call of `SetSteps`. For example, if `SetSteps` is called with 2000 and `GetRemainingSteps` is called after the motor has run for 500 steps, it will return 1500.

procedure `TBrickStepper.``DriveForward`

  Drives the stepper motor forward until `DriveBackward` or `Stop` is called. The velocity, acceleration and deacceleration as set by `SetMaxVelocity` and `SetSpeedRamping` will be used.

procedure `TBrickStepper.``DriveBackward`

  Drives the stepper motor backward until `DriveForward` or `Stop` is triggered. The velocity, acceleration and deacceleration as set by `SetMaxVelocity` and `SetSpeedRamping` will be used.

procedure `TBrickStepper.``Stop`

  Stops the stepper motor with the deacceleration as set by `SetSpeedRamping`.

procedure `TBrickStepper.``SetMotorCurrent`(const current: word)

  Sets the current in mA with which the motor will be driven. The minimum value is 100mA, the maximum value 2291mA and the default value is 800mA.

  Warning

  Do not set this value above the specifications of your stepper motor. Otherwise it may damage your motor.

function `TBrickStepper.``GetMotorCurrent`: word

  Returns the current as set by `SetMotorCurrent`.

procedure `TBrickStepper.``Enable`

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

procedure `TBrickStepper.``Disable`

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

function `TBrickStepper.``IsEnabled`: boolean

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

### Advanced Functions

procedure `TBrickStepper.``SetCurrentPosition`(const position: longint)

  Sets the current steps of the internal step counter. This can be used to set the current position to 0 when some kind of starting position is reached (e.g. when a CNC machine reaches a corner).

function `TBrickStepper.``GetCurrentPosition`: longint

  Returns the current position of the stepper motor in steps. On startup the position is 0. The steps are counted with all possible driving functions (`SetTargetPosition`, `SetSteps`, `DriveForward` or `DriveBackward`). It also is possible to reset the steps to 0 or set them to any other desired value with `SetCurrentPosition`.

procedure `TBrickStepper.``SetTargetPosition`(const position: longint)

  Sets the target position of the stepper motor in steps. For example, if the current position of the motor is 500 and `SetTargetPosition` is called with 1000, the stepper motor will drive 500 steps forward. It will use the velocity, acceleration and deacceleration as set by `SetMaxVelocity` and `SetSpeedRamping`.

  A call of `SetTargetPosition` with the parameter x is equivalent to a call of `SetSteps` with the parameter (x - `GetCurrentPosition`).

function `TBrickStepper.``GetTargetPosition`: longint

  Returns the last target position as set by `SetTargetPosition`.

procedure `TBrickStepper.``SetStepMode`(const mode: byte)

  Sets the step mode of the stepper motor. Possible values are:

  - Full Step = 1
  - Half Step = 2
  - Quarter Step = 4
  - Eighth Step = 8

  A higher value will increase the resolution and decrease the torque of the stepper motor.

  The default value is 8 (Eighth Step).

  The following constants are available for this function:

  - BRICK_STEPPER_STEP_MODE_FULL_STEP = 1
  - BRICK_STEPPER_STEP_MODE_HALF_STEP = 2
  - BRICK_STEPPER_STEP_MODE_QUARTER_STEP = 4
  - BRICK_STEPPER_STEP_MODE_EIGHTH_STEP = 8

function `TBrickStepper.``GetStepMode`: byte

  Returns the step mode as set by `SetStepMode`.

  The following constants are available for this function:

  - BRICK_STEPPER_STEP_MODE_FULL_STEP = 1
  - BRICK_STEPPER_STEP_MODE_HALF_STEP = 2
  - BRICK_STEPPER_STEP_MODE_QUARTER_STEP = 4
  - BRICK_STEPPER_STEP_MODE_EIGHTH_STEP = 8

function `TBrickStepper.``GetStackInputVoltage`: word

  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.

function `TBrickStepper.``GetExternalInputVoltage`: word

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

function `TBrickStepper.``GetCurrentConsumption`: word

  Returns the current consumption of the motor in mA.

procedure `TBrickStepper.``SetDecay`(const decay: word)

  Sets the decay mode of the stepper motor. The possible value range is between 0 and 65535. A value of 0 sets the fast decay mode, a value of 65535 sets the slow decay mode and a value in between sets the mixed decay mode.

  Changing the decay mode is only possible if synchronous rectification is enabled (see `SetSyncRect`).

  For a good explanation of the different decay modes see this blog post by Avayan.

  A good decay mode is unfortunately different for every motor. The best way to work out a good decay mode for your stepper motor, if you can't measure the current with an oscilloscope, is to listen to the sound of the motor. If the value is too low, you often hear a high pitched sound and if it is too high you can often hear a humming sound.

  Generally, fast decay mode (small value) will be noisier but also allow higher motor speeds.

  The default value is 10000.

  Note

  There is unfortunately no formula to calculate a perfect decay mode for a given stepper motor. If you have problems with loud noises or the maximum motor speed is too slow, you should try to tinker with the decay value

function `TBrickStepper.``GetDecay`: word

  Returns the decay mode as set by `SetDecay`.

procedure `TBrickStepper.``SetSyncRect`(const syncRect: boolean)

  Turns synchronous rectification on or off (true or false).

  With synchronous rectification on, the decay can be changed (see `SetDecay`). Without synchronous rectification fast decay is used.

  For an explanation of synchronous rectification see here.

  Warning

  If you want to use high speeds (> 10000 steps/s) for a large stepper motor with a large inductivity we strongly suggest that you disable synchronous rectification. Otherwise the Brick may not be able to cope with the load and overheat.

  The default value is false.

function `TBrickStepper.``IsSyncRect`: boolean

  Returns true if synchronous rectification is enabled, false otherwise.

procedure `TBrickStepper.``SetTimeBase`(const timeBase: longword)

  Sets the time base of the velocity and the acceleration of the stepper brick (in seconds).

  For example, if you want to make one step every 1.5 seconds, you can set the time base to 15 and the velocity to 10. Now the velocity is 10steps/15s = 1steps/1.5s.

  The default value is 1.

function `TBrickStepper.``GetTimeBase`: longword

  Returns the time base as set by `SetTimeBase`.

procedure `TBrickStepper.``GetAllData`(out currentVelocity: word; out currentPosition: longint; out remainingSteps: longint; out stackVoltage: word; out externalVoltage: word; out currentConsumption: word)

  Returns the following parameters: The current velocity, the current position, the remaining steps, the stack voltage, the external voltage and the current consumption of the stepper motor.

  There is also a callback for this function, see `OnAllData`.

function `TBrickStepper.``GetAPIVersion`: array [0..2] of 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 `TBrickStepper.``GetResponseExpected`(const functionId: byte): 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.

procedure `TBrickStepper.``SetResponseExpected`(const functionId: byte; const responseExpected: 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 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:

  - BRICK_STEPPER_FUNCTION_SET_MAX_VELOCITY = 1
  - BRICK_STEPPER_FUNCTION_SET_SPEED_RAMPING = 4
  - BRICK_STEPPER_FUNCTION_FULL_BRAKE = 6
  - BRICK_STEPPER_FUNCTION_SET_CURRENT_POSITION = 7
  - BRICK_STEPPER_FUNCTION_SET_TARGET_POSITION = 9
  - BRICK_STEPPER_FUNCTION_SET_STEPS = 11
  - BRICK_STEPPER_FUNCTION_SET_STEP_MODE = 14
  - BRICK_STEPPER_FUNCTION_DRIVE_FORWARD = 16
  - BRICK_STEPPER_FUNCTION_DRIVE_BACKWARD = 17
  - BRICK_STEPPER_FUNCTION_STOP = 18
  - BRICK_STEPPER_FUNCTION_SET_MOTOR_CURRENT = 22
  - BRICK_STEPPER_FUNCTION_ENABLE = 24
  - BRICK_STEPPER_FUNCTION_DISABLE = 25
  - BRICK_STEPPER_FUNCTION_SET_DECAY = 27
  - BRICK_STEPPER_FUNCTION_SET_MINIMUM_VOLTAGE = 29
  - BRICK_STEPPER_FUNCTION_SET_SYNC_RECT = 33
  - BRICK_STEPPER_FUNCTION_SET_TIME_BASE = 35
  - BRICK_STEPPER_FUNCTION_SET_ALL_DATA_PERIOD = 38
  - BRICK_STEPPER_FUNCTION_ENABLE_STATUS_LED = 238
  - BRICK_STEPPER_FUNCTION_DISABLE_STATUS_LED = 239
  - BRICK_STEPPER_FUNCTION_RESET = 243

procedure `TBrickStepper.``SetResponseExpectedAll`(const responseExpected: boolean)

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

procedure `TBrickStepper.``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).

procedure `TBrickStepper.``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).

function `TBrickStepper.``IsStatusLEDEnabled`: boolean

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

  New in version 2.3.1 (Firmware).

procedure `TBrickStepper.``GetProtocol1BrickletName`(const port: char; out protocolVersion: byte; out firmwareVersion: array [0..2] of byte; out name: string)

  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.

function `TBrickStepper.``GetChipTemperature`: smallint

  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.

procedure `TBrickStepper.``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!

procedure `TBrickStepper.``GetIdentity`(out uid: string; out connectedUid: string; out position: char; out hardwareVersion: array [0..2] of byte; out firmwareVersion: array [0..2] of byte; out deviceIdentifier: word)

  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

procedure `TBrickStepper.``SetMinimumVoltage`(const voltage: word)

  Sets the minimum voltage in mV, below which the `OnUnderVoltage` callback is triggered. The minimum possible value that works with the Stepper Brick is 8V. You can use this function to detect the discharge of a battery that is used to drive the stepper motor. If you have a fixed power supply, you likely do not need this functionality.

  The default value is 8V.

function `TBrickStepper.``GetMinimumVoltage`: word

  Returns the minimum voltage as set by `SetMinimumVoltage`.

procedure `TBrickStepper.``SetAllDataPeriod`(const period: longword)

  Sets the period in ms with which the `OnAllData` callback is triggered periodically. A value of 0 turns the callback off.

function `TBrickStepper.``GetAllDataPeriod`: longword

  Returns the period as set by `SetAllDataPeriod`.

### 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:

>     procedure TExample.MyCallback(sender: TBrickStepper; const param: word);
>     begin
>       WriteLn(param);
>     end;

>     stepper.OnExample := {$ifdef FPC}@{$endif}example.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.

property `TBrickStepper.``OnUnderVoltage`

      procedure(sender: TBrickStepper; const voltage: word) of object;

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

property `TBrickStepper.``OnPositionReached`

      procedure(sender: TBrickStepper; const position: longint) of object;

  This callback is triggered when a position set by `SetSteps` or `SetTargetPosition` is reached.

  Note

  Since we can't get any feedback from the stepper motor, this only works if the acceleration (see `SetSpeedRamping`) 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.

property `TBrickStepper.``OnAllData`

      procedure(sender: TBrickStepper; const currentVelocity: word; const currentPosition: longint; const remainingSteps: longint; const stackVoltage: word; const externalVoltage: word; const currentConsumption: word) of object;

  This callback is triggered periodically with the period that is set by `SetAllDataPeriod`. The parameters are: the current velocity, the current position, the remaining steps, the stack voltage, the external voltage and the current consumption of the stepper motor.

property `TBrickStepper.``OnNewState`

      procedure(sender: TBrickStepper; const stateNew: byte; const statePrevious: byte) of object;

  This callback is triggered whenever the Stepper Brick enters a new state. It returns the new state as well as the previous state.

  Possible states are:

  - 1 = Stop
  - 2 = Acceleration
  - 3 = Run
  - 4 = Deacceleration
  - 5 = Direction change to forward
  - 6 = Direction change to backward

  The following constants are available for this function:

  - BRICK_STEPPER_STATE_STOP = 1
  - BRICK_STEPPER_STATE_ACCELERATION = 2
  - BRICK_STEPPER_STATE_RUN = 3
  - BRICK_STEPPER_STATE_DEACCELERATION = 4
  - BRICK_STEPPER_STATE_DIRECTION_CHANGE_TO_FORWARD = 5
  - BRICK_STEPPER_STATE_DIRECTION_CHANGE_TO_BACKWARD = 6

### Constants

const `BRICK_STEPPER_DEVICE_IDENTIFIER`

  This constant is used to identify a Stepper Brick.

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

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