..
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:breadcrumbs: <a href="../../index.html">Home</a> / <a href="../../index.html#software-csharp">Software</a> / C# - DC Brick

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

.. _dc_brick_csharp:

C# - DC Brick
=============

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

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

.. _dc_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/dc-brick/raw/master/software/examples/csharp/ExampleConfiguration.cs>`__

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

Callback
^^^^^^^^

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

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

.. _dc_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 BrickDC(String uid, IPConnection ipcon)

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

 .. code-block:: csharp

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

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


.. csharp:function:: public void BrickDC::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 :csharp:func:`SetAcceleration() <BrickDC::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 :csharp:func:`SetPWMFrequency() <BrickDC::SetPWMFrequency>`.
 
 The default velocity is 0.
 
.. csharp:function:: public short BrickDC::GetVelocity()

 Returns the velocity as set by :csharp:func:`SetVelocity() <BrickDC::SetVelocity>`.
 
.. csharp:function:: public short BrickDC::GetCurrentVelocity()

 Returns the *current* velocity of the motor. This value is different
 from :csharp:func:`GetVelocity() <BrickDC::GetVelocity>` whenever the motor is currently accelerating
 to a goal set by :csharp:func:`SetVelocity() <BrickDC::SetVelocity>`.
 
.. csharp:function:: public void BrickDC::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.
 
.. csharp:function:: public int BrickDC::GetAcceleration()

 Returns the acceleration as set by :csharp:func:`SetAcceleration() <BrickDC::SetAcceleration>`.
 
.. csharp:function:: public void BrickDC::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:`SetVelocity() <BrickDC::SetVelocity>` with 0 if you just want to stop the motor.
 
.. csharp:function:: public void BrickDC::Enable()

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

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

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


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

.. csharp:function:: public void BrickDC::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.
 
.. csharp:function:: public int BrickDC::GetPWMFrequency()

 Returns the PWM frequency (in Hz) as set by :csharp:func:`SetPWMFrequency() <BrickDC::SetPWMFrequency>`.
 
.. csharp:function:: public int BrickDC::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 BrickDC::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.
 
.. csharp:function:: public int BrickDC::GetCurrentConsumption()

 Returns the current consumption of the motor in mA.
 
.. csharp:function:: public void BrickDC::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
 
.. csharp:function:: public byte BrickDC::GetDriveMode()

 Returns the drive mode, as set by :csharp:func:`SetDriveMode() <BrickDC::SetDriveMode>`.
 
 The following constants are available for this function:
 
 * BrickDC.DRIVE_MODE_DRIVE_BRAKE = 0
 * BrickDC.DRIVE_MODE_DRIVE_COAST = 1
 
.. csharp:function:: public byte[] BrickDC::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 BrickDC::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() <BrickDC::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() <BrickDC::SetResponseExpected>`
 for the list of function ID constants available for this function.
 
.. csharp:function:: public void BrickDC::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
 
.. csharp:function:: public void BrickDC::SetResponseExpectedAll(bool responseExpected)

 Changes the response expected flag for all setter and callback configuration
 functions of this device at once.
 
.. csharp:function:: public void BrickDC::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 BrickDC::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 BrickDC::IsStatusLEDEnabled()

 Returns *true* if the status LED is enabled, *false* otherwise.
 
 .. versionadded:: 2.3.1~(Firmware)
 
.. csharp:function:: public void BrickDC::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 BrickDC::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 BrickDC::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 BrickDC::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 BrickDC::SetMinimumVoltage(int voltage)

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

 Returns the minimum voltage as set by :csharp:func:`SetMinimumVoltage() <BrickDC::SetMinimumVoltage>`
 
.. csharp:function:: public void BrickDC::SetCurrentVelocityPeriod(int period)

 Sets a period in ms with which the :csharp:func:`CurrentVelocity <BrickDC::CurrentVelocity>` callback is triggered.
 A period of 0 turns the callback off.
 
 The default value is 0.
 
.. csharp:function:: public int BrickDC::GetCurrentVelocityPeriod()

 Returns the period as set by :csharp:func:`SetCurrentVelocityPeriod() <BrickDC::SetCurrentVelocityPeriod>`.
 


.. _dc_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(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.


.. csharp:function:: public event BrickDC::UnderVoltage(BrickDC sender, int voltage)


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

.. csharp:function:: public event BrickDC::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, :csharp:func:`Enable() <BrickDC::Enable>` has to be called to drive the motor again.
  
  .. note::
   This callback only works in Drive/Brake mode (see :csharp:func:`SetDriveMode() <BrickDC::SetDriveMode>`). In
   Drive/Coast mode it is unfortunately impossible to reliably read the
   overcurrent/overtemperature signal from the driver chip.
  

.. csharp:function:: public event BrickDC::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, :csharp:func:`VelocityReached <BrickDC::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 :csharp:func:`SetAcceleration() <BrickDC::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.
  

.. csharp:function:: public event BrickDC::CurrentVelocity(BrickDC sender, short velocity)


  This callback is triggered with the period that is set by
  :csharp:func:`SetCurrentVelocityPeriod() <BrickDC::SetCurrentVelocityPeriod>`. The parameter is the *current* velocity
  used by the motor.
  
  :csharp:func:`CurrentVelocity <BrickDC::CurrentVelocity>` is only triggered after the set period if there is
  a change in the velocity.
  


.. _dc_brick_csharp_constants:

Constants
^^^^^^^^^

.. csharp:member:: public int BrickDC::DEVICE_IDENTIFIER

 This constant is used to identify a DC Brick.

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

