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:breadcrumbs: <a href="../../index.html">Home</a> / <a href="../../index.html#software-csharp">Software</a> / C# - Rotary Encoder Bricklet

.. |device_identifier_constant| replace:: There is also a :ref:`constant <rotary_encoder_bricklet_csharp_constants>` for the device identifier of this Bricklet.

.. _rotary_encoder_bricklet_csharp:

C# - Rotary Encoder Bricklet
============================

This is the description of the :ref:`C# API bindings <api_bindings_csharp>` for the :ref:`Rotary Encoder Bricklet <rotary_encoder_bricklet>`. General information and technical
specifications for the Rotary Encoder Bricklet are summarized in its :ref:`hardware description
<rotary_encoder_bricklet_description>`.

An :ref:`installation guide <api_bindings_csharp_install>` for the C# API
bindings is part of their general description.

.. _rotary_encoder_bricklet_csharp_examples:


Examples
--------

The example code below is `Public Domain (CC0 1.0)
<http://creativecommons.org/publicdomain/zero/1.0/>`__.

Simple
^^^^^^

`Download (ExampleSimple.cs) <https://github.com/Tinkerforge/rotary-encoder-bricklet/raw/master/software/examples/csharp/ExampleSimple.cs>`__

.. literalinclude:: RotaryEncoder_Bricklet_CSharp_ExampleSimple.cs
 :language: csharp
 :linenos:
 :tab-width: 4

Callback
^^^^^^^^

`Download (ExampleCallback.cs) <https://github.com/Tinkerforge/rotary-encoder-bricklet/raw/master/software/examples/csharp/ExampleCallback.cs>`__

.. literalinclude:: RotaryEncoder_Bricklet_CSharp_ExampleCallback.cs
 :language: csharp
 :linenos:
 :tab-width: 4

.. _rotary_encoder_bricklet_csharp_api:

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
^^^^^^^^^^^^^^^


.. csharp:function:: class BrickletRotaryEncoder(String uid, IPConnection ipcon)

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

 .. code-block:: csharp

  BrickletRotaryEncoder rotaryEncoder = new BrickletRotaryEncoder("YOUR_DEVICE_UID", ipcon);

 This object can then be used after the IP Connection is connected
 (see examples :ref:`above <rotary_encoder_bricklet_csharp_examples>`).


.. csharp:function:: public int BrickletRotaryEncoder::GetCount(bool reset)

 Returns the current count of the encoder. If you set reset
 to true, the count is set back to 0 directly after the
 current count is read.
 
 The encoder has 24 steps per rotation
 
 Turning the encoder to the left decrements the counter,
 so a negative count is possible.
 
.. csharp:function:: public bool BrickletRotaryEncoder::IsPressed()

 Returns *true* if the button is pressed and *false* otherwise.
 
 It is recommended to use the :csharp:func:`Pressed <BrickletRotaryEncoder::Pressed>` and :csharp:func:`Released <BrickletRotaryEncoder::Released>` callbacks
 to handle the button.
 


Advanced Functions
^^^^^^^^^^^^^^^^^^

.. csharp:function:: public byte[] BrickletRotaryEncoder::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.
 
.. csharp:function:: public bool BrickletRotaryEncoder::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
 :csharp:func:`SetResponseExpected() <BrickletRotaryEncoder::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 :csharp:func:`SetResponseExpected() <BrickletRotaryEncoder::SetResponseExpected>`
 for the list of function ID constants available for this function.
 
.. csharp:function:: public void BrickletRotaryEncoder::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:
 
 * BrickletRotaryEncoder.FUNCTION_SET_COUNT_CALLBACK_PERIOD = 2
 * BrickletRotaryEncoder.FUNCTION_SET_COUNT_CALLBACK_THRESHOLD = 4
 * BrickletRotaryEncoder.FUNCTION_SET_DEBOUNCE_PERIOD = 6
 
.. csharp:function:: public void BrickletRotaryEncoder::SetResponseExpectedAll(bool responseExpected)

 Changes the response expected flag for all setter and callback configuration
 functions of this device at once.
 
.. csharp:function:: public void BrickletRotaryEncoder::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 Bricklet is connected to, 
 the position, the hardware and firmware version as well as the
 device identifier.
 
 The position can be 'a', 'b', 'c' or 'd'.
 
 The device identifier numbers can be found :ref:`here <device_identifier>`.
 |device_identifier_constant|
 


Callback Configuration Functions
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^



.. csharp:function:: public void BrickletRotaryEncoder::SetCountCallbackPeriod(long period)

 Sets the period in ms with which the :csharp:func:`Count <BrickletRotaryEncoder::Count>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
 :csharp:func:`Count <BrickletRotaryEncoder::Count>` is only triggered if the count has changed since the
 last triggering.
 
 The default value is 0.
 
.. csharp:function:: public long BrickletRotaryEncoder::GetCountCallbackPeriod()

 Returns the period as set by :csharp:func:`SetCountCallbackPeriod() <BrickletRotaryEncoder::SetCountCallbackPeriod>`.
 
.. csharp:function:: public void BrickletRotaryEncoder::SetCountCallbackThreshold(char option, int min, int max)

 Sets the thresholds for the :csharp:func:`CountReached <BrickletRotaryEncoder::CountReached>` callback. 
 
 The following options are possible:
 
 .. csv-table::
  :header: "Option", "Description"
  :widths: 10, 100
 
  "'x'",    "Callback is turned off"
  "'o'",    "Callback is triggered when the count is *outside* the min and max values"
  "'i'",    "Callback is triggered when the count is *inside* the min and max values"
  "'<'",    "Callback is triggered when the count is smaller than the min value (max is ignored)"
  "'>'",    "Callback is triggered when the count is greater than the min value (max is ignored)"
 
 The default value is ('x', 0, 0).
 
 The following constants are available for this function:
 
 * BrickletRotaryEncoder.THRESHOLD_OPTION_OFF = 'x'
 * BrickletRotaryEncoder.THRESHOLD_OPTION_OUTSIDE = 'o'
 * BrickletRotaryEncoder.THRESHOLD_OPTION_INSIDE = 'i'
 * BrickletRotaryEncoder.THRESHOLD_OPTION_SMALLER = '<'
 * BrickletRotaryEncoder.THRESHOLD_OPTION_GREATER = '>'
 
.. csharp:function:: public void BrickletRotaryEncoder::GetCountCallbackThreshold(out char option, out int min, out int max)

 Returns the threshold as set by :csharp:func:`SetCountCallbackThreshold() <BrickletRotaryEncoder::SetCountCallbackThreshold>`.
 
 The following constants are available for this function:
 
 * BrickletRotaryEncoder.THRESHOLD_OPTION_OFF = 'x'
 * BrickletRotaryEncoder.THRESHOLD_OPTION_OUTSIDE = 'o'
 * BrickletRotaryEncoder.THRESHOLD_OPTION_INSIDE = 'i'
 * BrickletRotaryEncoder.THRESHOLD_OPTION_SMALLER = '<'
 * BrickletRotaryEncoder.THRESHOLD_OPTION_GREATER = '>'
 
.. csharp:function:: public void BrickletRotaryEncoder::SetDebouncePeriod(long debounce)

 Sets the period in ms with which the threshold callback
 
 * :csharp:func:`CountReached <BrickletRotaryEncoder::CountReached>`
 
 is triggered, if the thresholds
 
 * :csharp:func:`SetCountCallbackThreshold() <BrickletRotaryEncoder::SetCountCallbackThreshold>`
 
 keeps being reached.
 
 The default value is 100.
 
.. csharp:function:: public long BrickletRotaryEncoder::GetDebouncePeriod()

 Returns the debounce period as set by :csharp:func:`SetDebouncePeriod() <BrickletRotaryEncoder::SetDebouncePeriod>`.
 


.. _rotary_encoder_bricklet_csharp_callbacks:

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:

.. code-block:: csharp

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

    rotaryEncoder.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.


.. csharp:function:: public event BrickletRotaryEncoder::Count(BrickletRotaryEncoder sender, int count)


  This callback is triggered periodically with the period that is set by
  :csharp:func:`SetCountCallbackPeriod() <BrickletRotaryEncoder::SetCountCallbackPeriod>`. The parameter is the count of
  the encoder.
  
  :csharp:func:`Count <BrickletRotaryEncoder::Count>` is only triggered if the count has changed since the
  last triggering.
  

.. csharp:function:: public event BrickletRotaryEncoder::CountReached(BrickletRotaryEncoder sender, int count)


  This callback is triggered when the threshold as set by
  :csharp:func:`SetCountCallbackThreshold() <BrickletRotaryEncoder::SetCountCallbackThreshold>` is reached.
  The parameter is the count of the encoder.
  
  If the threshold keeps being reached, the callback is triggered periodically
  with the period as set by :csharp:func:`SetDebouncePeriod() <BrickletRotaryEncoder::SetDebouncePeriod>`.
  

.. csharp:function:: public event BrickletRotaryEncoder::Pressed(BrickletRotaryEncoder sender)


  This callback is triggered when the button is pressed.
  

.. csharp:function:: public event BrickletRotaryEncoder::Released(BrickletRotaryEncoder sender)


  This callback is triggered when the button is released.
  


.. _rotary_encoder_bricklet_csharp_constants:

Constants
^^^^^^^^^

.. csharp:member:: public int BrickletRotaryEncoder::DEVICE_IDENTIFIER

 This constant is used to identify a Rotary Encoder Bricklet.

 The :csharp:func:`GetIdentity() <BrickletRotaryEncoder::GetIdentity>` function and the
 :csharp:func:`EnumerateCallback <IPConnection::EnumerateCallback>`
 callback of the IP Connection have a ``deviceIdentifier`` parameter to specify
 the Brick's or Bricklet's type.

