..
 #############################################################
 # This file was automatically generated on 2015-05-08.      #
 #                                                           #
 # If you have a bugfix for this file and want to commit it, #
 # please fix the bug in the generator. You can find a link  #
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:breadcrumbs: <a href="../../index.html">Home</a> / <a href="../../index.html#software-csharp">Software</a> / C# - Stepper Brick

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

.. _stepper_brick_csharp:

C# - Stepper Brick
==================

This is the description of the :ref:`C# API bindings <api_bindings_csharp>` for the :ref:`Stepper Brick <stepper_brick>`. General information and technical
specifications for the Stepper Brick are summarized in its :ref:`hardware description
<stepper_brick_description>`.

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

.. _stepper_brick_csharp_examples:


Examples
--------

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

Configuration
^^^^^^^^^^^^^

`Download (ExampleConfiguration.cs) <https://github.com/Tinkerforge/stepper-brick/raw/master/software/examples/csharp/ExampleConfiguration.cs>`__

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

Callback
^^^^^^^^

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

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

.. _stepper_brick_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 BrickStepper(String uid, IPConnection ipcon)

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

 .. code-block:: csharp

  BrickStepper stepper = new BrickStepper("YOUR_DEVICE_UID", ipcon);

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


.. csharp:function:: public void BrickStepper::SetMaxVelocity(int velocity)

 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 :csharp:func:`SetTargetPosition() <BrickStepper::SetTargetPosition>`, :csharp:func:`SetSteps() <BrickStepper::SetSteps>`, :csharp:func:`DriveForward() <BrickStepper::DriveForward>` or
 :csharp:func:`DriveBackward() <BrickStepper::DriveBackward>`.
 
.. csharp:function:: public int BrickStepper::GetMaxVelocity()

 Returns the velocity as set by :csharp:func:`SetMaxVelocity() <BrickStepper::SetMaxVelocity>`.
 
.. csharp:function:: public int BrickStepper::GetCurrentVelocity()

 Returns the *current* velocity of the stepper motor in steps per second.
 
.. csharp:function:: public void BrickStepper::SetSpeedRamping(int acceleration, int deacceleration)

 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
 
.. csharp:function:: public void BrickStepper::GetSpeedRamping(out int acceleration, out int deacceleration)

 Returns the acceleration and deacceleration as set by 
 :csharp:func:`SetSpeedRamping() <BrickStepper::SetSpeedRamping>`.
 
.. csharp:function:: public void BrickStepper::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 :csharp:func:`Stop() <BrickStepper::Stop>` if you just want to stop the motor.
 
.. csharp:function:: public void BrickStepper::SetSteps(int steps)

 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
 :csharp:func:`SetMaxVelocity() <BrickStepper::SetMaxVelocity>` and :csharp:func:`SetSpeedRamping() <BrickStepper::SetSpeedRamping>` will be used.
 
.. csharp:function:: public int BrickStepper::GetSteps()

 Returns the last steps as set by :csharp:func:`SetSteps() <BrickStepper::SetSteps>`.
 
.. csharp:function:: public int BrickStepper::GetRemainingSteps()

 Returns the remaining steps of the last call of :csharp:func:`SetSteps() <BrickStepper::SetSteps>`.
 For example, if :csharp:func:`SetSteps() <BrickStepper::SetSteps>` is called with 2000 and 
 :csharp:func:`GetRemainingSteps() <BrickStepper::GetRemainingSteps>` is called after the motor has run for 500 steps,
 it will return 1500.
 
.. csharp:function:: public void BrickStepper::DriveForward()

 Drives the stepper motor forward until :csharp:func:`DriveBackward() <BrickStepper::DriveBackward>` or
 :csharp:func:`Stop() <BrickStepper::Stop>` is called. The velocity, acceleration and deacceleration as 
 set by :csharp:func:`SetMaxVelocity() <BrickStepper::SetMaxVelocity>` and :csharp:func:`SetSpeedRamping() <BrickStepper::SetSpeedRamping>` will be used.
 
.. csharp:function:: public void BrickStepper::DriveBackward()

 Drives the stepper motor backward until :csharp:func:`DriveForward() <BrickStepper::DriveForward>` or
 :csharp:func:`Stop() <BrickStepper::Stop>` is triggered. The velocity, acceleration and deacceleration as
 set by :csharp:func:`SetMaxVelocity() <BrickStepper::SetMaxVelocity>` and :csharp:func:`SetSpeedRamping() <BrickStepper::SetSpeedRamping>` will be used.
 
.. csharp:function:: public void BrickStepper::Stop()

 Stops the stepper motor with the deacceleration as set by 
 :csharp:func:`SetSpeedRamping() <BrickStepper::SetSpeedRamping>`.
 
.. csharp:function:: public void BrickStepper::SetMotorCurrent(int current)

 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.
 
.. csharp:function:: public int BrickStepper::GetMotorCurrent()

 Returns the current as set by :csharp:func:`SetMotorCurrent() <BrickStepper::SetMotorCurrent>`.
 
.. csharp:function:: public void BrickStepper::Enable()

 Enables the driver chip. The driver parameters can be configured (maximum velocity,
 acceleration, etc) before it is enabled.
 
.. csharp:function:: public void BrickStepper::Disable()

 Disables the driver chip. The configurations are kept (maximum velocity,
 acceleration, etc) but the motor is not driven until it is enabled again.
 
.. csharp:function:: public bool BrickStepper::IsEnabled()

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


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

.. csharp:function:: public void BrickStepper::SetCurrentPosition(int position)

 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).
 
.. csharp:function:: public int BrickStepper::GetCurrentPosition()

 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 (:csharp:func:`SetTargetPosition() <BrickStepper::SetTargetPosition>`, :csharp:func:`SetSteps() <BrickStepper::SetSteps>`, :csharp:func:`DriveForward() <BrickStepper::DriveForward>` or
 :csharp:func:`DriveBackward() <BrickStepper::DriveBackward>`). It also is possible to reset the steps to 0 or
 set them to any other desired value with :csharp:func:`SetCurrentPosition() <BrickStepper::SetCurrentPosition>`.
 
.. csharp:function:: public void BrickStepper::SetTargetPosition(int position)

 Sets the target position of the stepper motor in steps. For example,
 if the current position of the motor is 500 and :csharp:func:`SetTargetPosition() <BrickStepper::SetTargetPosition>` is
 called with 1000, the stepper motor will drive 500 steps forward. It will
 use the velocity, acceleration and deacceleration as set by
 :csharp:func:`SetMaxVelocity() <BrickStepper::SetMaxVelocity>` and :csharp:func:`SetSpeedRamping() <BrickStepper::SetSpeedRamping>`.
 
 A call of :csharp:func:`SetTargetPosition() <BrickStepper::SetTargetPosition>` with the parameter *x* is equivalent to
 a call of :csharp:func:`SetSteps() <BrickStepper::SetSteps>` with the parameter 
 (*x* - :csharp:func:`GetCurrentPosition() <BrickStepper::GetCurrentPosition>`).
 
.. csharp:function:: public int BrickStepper::GetTargetPosition()

 Returns the last target position as set by :csharp:func:`SetTargetPosition() <BrickStepper::SetTargetPosition>`.
 
.. csharp:function:: public void BrickStepper::SetStepMode(byte mode)

 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:
 
 * BrickStepper.STEP_MODE_FULL_STEP = 1
 * BrickStepper.STEP_MODE_HALF_STEP = 2
 * BrickStepper.STEP_MODE_QUARTER_STEP = 4
 * BrickStepper.STEP_MODE_EIGHTH_STEP = 8
 
.. csharp:function:: public byte BrickStepper::GetStepMode()

 Returns the step mode as set by :csharp:func:`SetStepMode() <BrickStepper::SetStepMode>`.
 
 The following constants are available for this function:
 
 * BrickStepper.STEP_MODE_FULL_STEP = 1
 * BrickStepper.STEP_MODE_HALF_STEP = 2
 * BrickStepper.STEP_MODE_QUARTER_STEP = 4
 * BrickStepper.STEP_MODE_EIGHTH_STEP = 8
 
.. csharp:function:: public int BrickStepper::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.
 
.. csharp:function:: public int BrickStepper::GetExternalInputVoltage()

 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
 
.. csharp:function:: public int BrickStepper::GetCurrentConsumption()

 Returns the current consumption of the motor in mA.
 
.. csharp:function:: public void BrickStepper::SetDecay(int decay)

 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 :csharp:func:`SetSyncRect() <BrickStepper::SetSyncRect>`).
 
 For a good explanation of the different decay modes see 
 `this <http://ebldc.com/?p=86/>`__ 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
 
.. csharp:function:: public int BrickStepper::GetDecay()

 Returns the decay mode as set by :csharp:func:`SetDecay() <BrickStepper::SetDecay>`.
 
.. csharp:function:: public void BrickStepper::SetSyncRect(bool syncRect)

 Turns synchronous rectification on or off (*true* or *false*).
 
 With synchronous rectification on, the decay can be changed
 (see :csharp:func:`SetDecay() <BrickStepper::SetDecay>`). Without synchronous rectification fast
 decay is used.
 
 For an explanation of synchronous rectification see 
 `here <http://en.wikipedia.org/wiki/Active_rectification>`__.
 
 .. 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*.
 
.. csharp:function:: public bool BrickStepper::IsSyncRect()

 Returns *true* if synchronous rectification is enabled, *false* otherwise.
 
.. csharp:function:: public void BrickStepper::SetTimeBase(long timeBase)

 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.
 
.. csharp:function:: public long BrickStepper::GetTimeBase()

 Returns the time base as set by :csharp:func:`SetTimeBase() <BrickStepper::SetTimeBase>`.
 
.. csharp:function:: public void BrickStepper::GetAllData(out int currentVelocity, out int currentPosition, out int remainingSteps, out int stackVoltage, out int externalVoltage, out int currentConsumption)

 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 :csharp:func:`AllData <BrickStepper::AllData>`.
 
.. csharp:function:: public byte[] BrickStepper::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 BrickStepper::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() <BrickStepper::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() <BrickStepper::SetResponseExpected>`
 for the list of function ID constants available for this function.
 
.. csharp:function:: public void BrickStepper::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:
 
 * BrickStepper.FUNCTION_SET_MAX_VELOCITY = 1
 * BrickStepper.FUNCTION_SET_SPEED_RAMPING = 4
 * BrickStepper.FUNCTION_FULL_BRAKE = 6
 * BrickStepper.FUNCTION_SET_CURRENT_POSITION = 7
 * BrickStepper.FUNCTION_SET_TARGET_POSITION = 9
 * BrickStepper.FUNCTION_SET_STEPS = 11
 * BrickStepper.FUNCTION_SET_STEP_MODE = 14
 * BrickStepper.FUNCTION_DRIVE_FORWARD = 16
 * BrickStepper.FUNCTION_DRIVE_BACKWARD = 17
 * BrickStepper.FUNCTION_STOP = 18
 * BrickStepper.FUNCTION_SET_MOTOR_CURRENT = 22
 * BrickStepper.FUNCTION_ENABLE = 24
 * BrickStepper.FUNCTION_DISABLE = 25
 * BrickStepper.FUNCTION_SET_DECAY = 27
 * BrickStepper.FUNCTION_SET_MINIMUM_VOLTAGE = 29
 * BrickStepper.FUNCTION_SET_SYNC_RECT = 33
 * BrickStepper.FUNCTION_SET_TIME_BASE = 35
 * BrickStepper.FUNCTION_SET_ALL_DATA_PERIOD = 38
 * BrickStepper.FUNCTION_ENABLE_STATUS_LED = 238
 * BrickStepper.FUNCTION_DISABLE_STATUS_LED = 239
 * BrickStepper.FUNCTION_RESET = 243
 
.. csharp:function:: public void BrickStepper::SetResponseExpectedAll(bool responseExpected)

 Changes the response expected flag for all setter and callback configuration
 functions of this device at once.
 
.. csharp:function:: public void BrickStepper::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.
 
 .. versionadded:: 2.3.1~(Firmware)
 
.. csharp:function:: public void BrickStepper::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.
 
 .. versionadded:: 2.3.1~(Firmware)
 
.. csharp:function:: public bool BrickStepper::IsStatusLEDEnabled()

 Returns *true* if the status LED is enabled, *false* otherwise.
 
 .. versionadded:: 2.3.1~(Firmware)
 
.. csharp:function:: public void BrickStepper::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.
 
.. csharp:function:: public short BrickStepper::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.
 
.. csharp:function:: public void BrickStepper::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!
 
.. csharp:function:: public void BrickStepper::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 :ref:`here <device_identifier>`.
 |device_identifier_constant|
 


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



.. csharp:function:: public void BrickStepper::SetMinimumVoltage(int voltage)

 Sets the minimum voltage in mV, below which the :csharp:func:`UnderVoltage <BrickStepper::UnderVoltage>` 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.
 
.. csharp:function:: public int BrickStepper::GetMinimumVoltage()

 Returns the minimum voltage as set by :csharp:func:`SetMinimumVoltage() <BrickStepper::SetMinimumVoltage>`.
 
.. csharp:function:: public void BrickStepper::SetAllDataPeriod(long period)

 Sets the period in ms with which the :csharp:func:`AllData <BrickStepper::AllData>` callback is triggered
 periodically. A value of 0 turns the callback off.
 
.. csharp:function:: public long BrickStepper::GetAllDataPeriod()

 Returns the period as set by :csharp:func:`SetAllDataPeriod() <BrickStepper::SetAllDataPeriod>`.
 


.. _stepper_brick_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(BrickStepper sender, int value)
    {
        System.Console.WriteLine("Value: " + value);
    }

    stepper.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 BrickStepper::UnderVoltage(BrickStepper sender, int voltage)


  This callback is triggered when the input voltage drops below the value set by
  :csharp:func:`SetMinimumVoltage() <BrickStepper::SetMinimumVoltage>`. The parameter is the current voltage given
  in mV.
  

.. csharp:function:: public event BrickStepper::PositionReached(BrickStepper sender, int position)


  This callback is triggered when a position set by :csharp:func:`SetSteps() <BrickStepper::SetSteps>` or
  :csharp:func:`SetTargetPosition() <BrickStepper::SetTargetPosition>` is reached.
  
  .. note::
   Since we can't get any feedback from the stepper motor, this only works if the
   acceleration (see :csharp:func:`SetSpeedRamping() <BrickStepper::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.
  

.. csharp:function:: public event BrickStepper::AllData(BrickStepper sender, int currentVelocity, int currentPosition, int remainingSteps, int stackVoltage, int externalVoltage, int currentConsumption)


  This callback is triggered periodically with the period that is set by
  :csharp:func:`SetAllDataPeriod() <BrickStepper::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.
  

.. csharp:function:: public event BrickStepper::NewState(BrickStepper sender, byte stateNew, byte statePrevious)


  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:
  
  * BrickStepper.STATE_STOP = 1
  * BrickStepper.STATE_ACCELERATION = 2
  * BrickStepper.STATE_RUN = 3
  * BrickStepper.STATE_DEACCELERATION = 4
  * BrickStepper.STATE_DIRECTION_CHANGE_TO_FORWARD = 5
  * BrickStepper.STATE_DIRECTION_CHANGE_TO_BACKWARD = 6
  


.. _stepper_brick_csharp_constants:

Constants
^^^^^^^^^

.. csharp:member:: public int BrickStepper::DEVICE_IDENTIFIER

 This constant is used to identify a Stepper Brick.

 The :csharp:func:`GetIdentity() <BrickStepper::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.

