Package com.tinkerforge
Class BrickletSilentStepperV2
- java.lang.Object
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- com.tinkerforge.DeviceBase
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- com.tinkerforge.Device
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- com.tinkerforge.BrickletSilentStepperV2
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public class BrickletSilentStepperV2 extends Device
Silently drives one bipolar stepper motor with up to 46V and 1.6A per phase
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Nested Class Summary
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Nested classes/interfaces inherited from class com.tinkerforge.Device
Device.Identity
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Field Summary
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Constructor Summary
Constructors Constructor Description BrickletSilentStepperV2(java.lang.String uid, IPConnection ipcon)
Creates an object with the unique device ID \c uid.
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Method Summary
All Methods Instance Methods Concrete Methods Modifier and Type Method Description void
addAllDataListener(BrickletSilentStepperV2.AllDataListener listener)
Adds a AllData listener.void
addGPIOStateListener(BrickletSilentStepperV2.GPIOStateListener listener)
Adds a GPIOState listener.void
addNewStateListener(BrickletSilentStepperV2.NewStateListener listener)
Adds a NewState listener.void
addPositionReachedListener(BrickletSilentStepperV2.PositionReachedListener listener)
Adds a PositionReached listener.void
addUnderVoltageListener(BrickletSilentStepperV2.UnderVoltageListener listener)
Adds a UnderVoltage listener.void
driveBackward()
Drives the stepper motor backward untildriveForward()
orstop()
is triggered.void
driveForward()
Drives the stepper motor forward untildriveBackward()
orstop()
is called.void
fullBrake()
Executes an active full brake.BrickletSilentStepperV2.AllData
getAllData()
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.long
getAllDataCallbackConfiguraton()
Returns the period as set bysetAllCallbackConfiguration(long)
.BrickletSilentStepperV2.BasicConfiguration
getBasicConfiguration()
Returns the configuration as set bysetBasicConfiguration(int, int, int, int, int, int, int, boolean)
.int
getBootloaderMode()
Returns the current bootloader mode, seesetBootloaderMode(int)
.int
getChipTemperature()
Returns the temperature as measured inside the microcontroller.BrickletSilentStepperV2.CoolstepConfiguration
getCoolstepConfiguration()
Returns the configuration as set bysetCoolstepConfiguration(int, int, int, int, int, int, int)
.int
getCurrentPosition()
Returns the current position of the stepper motor in steps.int
getCurrentVelocity()
Returns the *current* velocity of the stepper motor.BrickletSilentStepperV2.DriverStatus
getDriverStatus()
Returns the current driver status.boolean
getEnabled()
Returns *true* if the stepper driver is enabled, *false* otherwise.int
getErrorLEDConfig()
Returns the LED configuration as set bysetErrorLEDConfig(int)
long
getGPIOAction(int channel)
Returns the GPIO action for a channel as set bysetGPIOAction(int, long)
.BrickletSilentStepperV2.GPIOConfiguration
getGPIOConfiguration(int channel)
Returns the GPIO configuration for a channel as set bysetGPIOConfiguration(int, int, int)
.boolean[]
getGPIOState()
Returns the GPIO state for both channels.Device.Identity
getIdentity()
Returns the UID, the UID where the Bricklet is connected to, the position, the hardware and firmware version as well as the device identifier.int
getInputVoltage()
Returns the external input voltage.int
getMaxVelocity()
Returns the velocity as set bysetMaxVelocity(int)
.int
getMinimumVoltage()
Returns the minimum voltage as set bysetMinimumVoltage(int)
.BrickletSilentStepperV2.MiscConfiguration
getMiscConfiguration()
Returns the configuration as set bysetMiscConfiguration(boolean, int)
.int
getMotorCurrent()
Returns the current as set bysetMotorCurrent(int)
.int
getRemainingSteps()
Returns the remaining steps of the last call ofsetSteps(int)
.BrickletSilentStepperV2.SpeedRamping
getSpeedRamping()
Returns the acceleration and deacceleration as set bysetSpeedRamping(int, int)
.BrickletSilentStepperV2.SPITFPErrorCount
getSPITFPErrorCount()
Returns the error count for the communication between Brick and Bricklet.BrickletSilentStepperV2.SpreadcycleConfiguration
getSpreadcycleConfiguration()
Returns the configuration as set bysetBasicConfiguration(int, int, int, int, int, int, int, boolean)
.int
getStatusLEDConfig()
Returns the configuration as set bysetStatusLEDConfig(int)
BrickletSilentStepperV2.StealthConfiguration
getStealthConfiguration()
Returns the configuration as set bysetStealthConfiguration(boolean, int, int, boolean, boolean, int)
.BrickletSilentStepperV2.StepConfiguration
getStepConfiguration()
Returns the step mode as set bysetStepConfiguration(int, boolean)
.int
getSteps()
Returns the last steps as set bysetSteps(int)
.int
getTargetPosition()
Returns the last target position as set bysetTargetPosition(int)
.long
getTimeBase()
Returns the time base as set bysetTimeBase(long)
.long
readUID()
Returns the current UID as an integer.void
removeAllDataListener(BrickletSilentStepperV2.AllDataListener listener)
Removes a AllData listener.void
removeGPIOStateListener(BrickletSilentStepperV2.GPIOStateListener listener)
Removes a GPIOState listener.void
removeNewStateListener(BrickletSilentStepperV2.NewStateListener listener)
Removes a NewState listener.void
removePositionReachedListener(BrickletSilentStepperV2.PositionReachedListener listener)
Removes a PositionReached listener.void
removeUnderVoltageListener(BrickletSilentStepperV2.UnderVoltageListener listener)
Removes a UnderVoltage listener.void
reset()
Calling this function will reset the Bricklet.void
setAllCallbackConfiguration(long period)
Sets the period with which theBrickletSilentStepperV2.AllDataListener
listener is triggered periodically.void
setBasicConfiguration(int standstillCurrent, int motorRunCurrent, int standstillDelayTime, int powerDownTime, int stealthThreshold, int coolstepThreshold, int classicThreshold, boolean highVelocityChopperMode)
Sets the basic configuration parameters for the different modes (Stealth, Coolstep, Classic).int
setBootloaderMode(int mode)
Sets the bootloader mode and returns the status after the requested mode change was instigated.void
setCoolstepConfiguration(int minimumStallguardValue, int maximumStallguardValue, int currentUpStepWidth, int currentDownStepWidth, int minimumCurrent, int stallguardThresholdValue, int stallguardMode)
Note: If you don't know what any of this means you can very likely keep all of the values as default! Sets the configuration relevant for Coolstep.void
setCurrentPosition(int position)
Sets the current steps of the internal step counter.void
setEnabled(boolean enabled)
Enables/Disables the driver chip.void
setErrorLEDConfig(int config)
Configures the error LED to be either turned off, turned on, blink in heartbeat mode or show an error.void
setGPIOAction(int channel, long action)
Sets the GPIO action for the given channel.void
setGPIOConfiguration(int channel, int debounce, int stopDeceleration)
Sets the GPIO configuration for the given channel.void
setMaxVelocity(int velocity)
Sets the maximum velocity of the stepper motor.void
setMinimumVoltage(int voltage)
Sets the minimum voltage, below which theBrickletSilentStepperV2.UnderVoltageListener
listener is triggered.void
setMiscConfiguration(boolean disableShortToGroundProtection, int synchronizePhaseFrequency)
Note: If you don't know what any of this means you can very likely keep all of the values as default! Sets miscellaneous configuration parameters.void
setMotorCurrent(int current)
Sets the current with which the motor will be driven.void
setSpeedRamping(int acceleration, int deacceleration)
Sets the acceleration and deacceleration of the stepper motor.void
setSpreadcycleConfiguration(int slowDecayDuration, boolean enableRandomSlowDecay, int fastDecayDuration, int hysteresisStartValue, int hysteresisEndValue, int sineWaveOffset, int chopperMode, int comparatorBlankTime, boolean fastDecayWithoutComparator)
Note: If you don't know what any of this means you can very likely keep all of the values as default! Sets the Spreadcycle configuration parameters.void
setStatusLEDConfig(int config)
Sets the status LED configuration.void
setStealthConfiguration(boolean enableStealth, int amplitude, int gradient, boolean enableAutoscale, boolean forceSymmetric, int freewheelMode)
Note: If you don't know what any of this means you can very likely keep all of the values as default! Sets the configuration relevant for Stealth mode.void
setStepConfiguration(int stepResolution, boolean interpolation)
Sets the step resolution from full-step up to 1/256-step.void
setSteps(int steps)
Sets the number of steps the stepper motor should run.void
setTargetPosition(int position)
Sets the target position of the stepper motor in steps.void
setTimeBase(long timeBase)
Sets the time base of the velocity and the acceleration of the Silent Stepper Bricklet 2.0.void
setWriteFirmwarePointer(long pointer)
Sets the firmware pointer forwriteFirmware(int[])
.void
stop()
Stops the stepper motor with the deacceleration as set bysetSpeedRamping(int, int)
.int
writeFirmware(int[] data)
Writes 64 Bytes of firmware at the position as written bysetWriteFirmwarePointer(long)
before.void
writeUID(long uid)
Writes a new UID into flash.-
Methods inherited from class com.tinkerforge.DeviceBase
getAPIVersion, getResponseExpected, setResponseExpected, setResponseExpectedAll
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Field Detail
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DEVICE_IDENTIFIER
public static final int DEVICE_IDENTIFIER
- See Also:
- Constant Field Values
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DEVICE_DISPLAY_NAME
public static final java.lang.String DEVICE_DISPLAY_NAME
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- Constant Field Values
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FUNCTION_SET_MAX_VELOCITY
public static final byte FUNCTION_SET_MAX_VELOCITY
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- Constant Field Values
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FUNCTION_GET_MAX_VELOCITY
public static final byte FUNCTION_GET_MAX_VELOCITY
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- Constant Field Values
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FUNCTION_GET_CURRENT_VELOCITY
public static final byte FUNCTION_GET_CURRENT_VELOCITY
- See Also:
- Constant Field Values
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FUNCTION_SET_SPEED_RAMPING
public static final byte FUNCTION_SET_SPEED_RAMPING
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- Constant Field Values
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FUNCTION_GET_SPEED_RAMPING
public static final byte FUNCTION_GET_SPEED_RAMPING
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- Constant Field Values
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FUNCTION_FULL_BRAKE
public static final byte FUNCTION_FULL_BRAKE
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- Constant Field Values
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FUNCTION_SET_CURRENT_POSITION
public static final byte FUNCTION_SET_CURRENT_POSITION
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- Constant Field Values
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FUNCTION_GET_CURRENT_POSITION
public static final byte FUNCTION_GET_CURRENT_POSITION
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- Constant Field Values
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FUNCTION_SET_TARGET_POSITION
public static final byte FUNCTION_SET_TARGET_POSITION
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- Constant Field Values
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FUNCTION_GET_TARGET_POSITION
public static final byte FUNCTION_GET_TARGET_POSITION
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- Constant Field Values
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FUNCTION_SET_STEPS
public static final byte FUNCTION_SET_STEPS
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- Constant Field Values
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FUNCTION_GET_STEPS
public static final byte FUNCTION_GET_STEPS
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- Constant Field Values
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FUNCTION_GET_REMAINING_STEPS
public static final byte FUNCTION_GET_REMAINING_STEPS
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- Constant Field Values
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FUNCTION_SET_STEP_CONFIGURATION
public static final byte FUNCTION_SET_STEP_CONFIGURATION
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- Constant Field Values
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FUNCTION_GET_STEP_CONFIGURATION
public static final byte FUNCTION_GET_STEP_CONFIGURATION
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- Constant Field Values
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FUNCTION_DRIVE_FORWARD
public static final byte FUNCTION_DRIVE_FORWARD
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- Constant Field Values
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FUNCTION_DRIVE_BACKWARD
public static final byte FUNCTION_DRIVE_BACKWARD
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- Constant Field Values
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FUNCTION_STOP
public static final byte FUNCTION_STOP
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- Constant Field Values
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FUNCTION_GET_INPUT_VOLTAGE
public static final byte FUNCTION_GET_INPUT_VOLTAGE
- See Also:
- Constant Field Values
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FUNCTION_SET_MOTOR_CURRENT
public static final byte FUNCTION_SET_MOTOR_CURRENT
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- Constant Field Values
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FUNCTION_GET_MOTOR_CURRENT
public static final byte FUNCTION_GET_MOTOR_CURRENT
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- Constant Field Values
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FUNCTION_SET_ENABLED
public static final byte FUNCTION_SET_ENABLED
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- Constant Field Values
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FUNCTION_GET_ENABLED
public static final byte FUNCTION_GET_ENABLED
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- Constant Field Values
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FUNCTION_SET_BASIC_CONFIGURATION
public static final byte FUNCTION_SET_BASIC_CONFIGURATION
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- Constant Field Values
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FUNCTION_GET_BASIC_CONFIGURATION
public static final byte FUNCTION_GET_BASIC_CONFIGURATION
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- Constant Field Values
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FUNCTION_SET_SPREADCYCLE_CONFIGURATION
public static final byte FUNCTION_SET_SPREADCYCLE_CONFIGURATION
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- Constant Field Values
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FUNCTION_GET_SPREADCYCLE_CONFIGURATION
public static final byte FUNCTION_GET_SPREADCYCLE_CONFIGURATION
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- Constant Field Values
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FUNCTION_SET_STEALTH_CONFIGURATION
public static final byte FUNCTION_SET_STEALTH_CONFIGURATION
- See Also:
- Constant Field Values
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FUNCTION_GET_STEALTH_CONFIGURATION
public static final byte FUNCTION_GET_STEALTH_CONFIGURATION
- See Also:
- Constant Field Values
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FUNCTION_SET_COOLSTEP_CONFIGURATION
public static final byte FUNCTION_SET_COOLSTEP_CONFIGURATION
- See Also:
- Constant Field Values
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FUNCTION_GET_COOLSTEP_CONFIGURATION
public static final byte FUNCTION_GET_COOLSTEP_CONFIGURATION
- See Also:
- Constant Field Values
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FUNCTION_SET_MISC_CONFIGURATION
public static final byte FUNCTION_SET_MISC_CONFIGURATION
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- Constant Field Values
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FUNCTION_GET_MISC_CONFIGURATION
public static final byte FUNCTION_GET_MISC_CONFIGURATION
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- Constant Field Values
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FUNCTION_SET_ERROR_LED_CONFIG
public static final byte FUNCTION_SET_ERROR_LED_CONFIG
- See Also:
- Constant Field Values
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FUNCTION_GET_ERROR_LED_CONFIG
public static final byte FUNCTION_GET_ERROR_LED_CONFIG
- See Also:
- Constant Field Values
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FUNCTION_GET_DRIVER_STATUS
public static final byte FUNCTION_GET_DRIVER_STATUS
- See Also:
- Constant Field Values
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FUNCTION_SET_MINIMUM_VOLTAGE
public static final byte FUNCTION_SET_MINIMUM_VOLTAGE
- See Also:
- Constant Field Values
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FUNCTION_GET_MINIMUM_VOLTAGE
public static final byte FUNCTION_GET_MINIMUM_VOLTAGE
- See Also:
- Constant Field Values
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FUNCTION_SET_TIME_BASE
public static final byte FUNCTION_SET_TIME_BASE
- See Also:
- Constant Field Values
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FUNCTION_GET_TIME_BASE
public static final byte FUNCTION_GET_TIME_BASE
- See Also:
- Constant Field Values
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FUNCTION_GET_ALL_DATA
public static final byte FUNCTION_GET_ALL_DATA
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- Constant Field Values
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FUNCTION_SET_ALL_CALLBACK_CONFIGURATION
public static final byte FUNCTION_SET_ALL_CALLBACK_CONFIGURATION
- See Also:
- Constant Field Values
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FUNCTION_GET_ALL_DATA_CALLBACK_CONFIGURATON
public static final byte FUNCTION_GET_ALL_DATA_CALLBACK_CONFIGURATON
- See Also:
- Constant Field Values
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FUNCTION_SET_GPIO_CONFIGURATION
public static final byte FUNCTION_SET_GPIO_CONFIGURATION
- See Also:
- Constant Field Values
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FUNCTION_GET_GPIO_CONFIGURATION
public static final byte FUNCTION_GET_GPIO_CONFIGURATION
- See Also:
- Constant Field Values
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FUNCTION_SET_GPIO_ACTION
public static final byte FUNCTION_SET_GPIO_ACTION
- See Also:
- Constant Field Values
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FUNCTION_GET_GPIO_ACTION
public static final byte FUNCTION_GET_GPIO_ACTION
- See Also:
- Constant Field Values
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FUNCTION_GET_GPIO_STATE
public static final byte FUNCTION_GET_GPIO_STATE
- See Also:
- Constant Field Values
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FUNCTION_GET_SPITFP_ERROR_COUNT
public static final byte FUNCTION_GET_SPITFP_ERROR_COUNT
- See Also:
- Constant Field Values
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FUNCTION_SET_BOOTLOADER_MODE
public static final byte FUNCTION_SET_BOOTLOADER_MODE
- See Also:
- Constant Field Values
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FUNCTION_GET_BOOTLOADER_MODE
public static final byte FUNCTION_GET_BOOTLOADER_MODE
- See Also:
- Constant Field Values
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FUNCTION_SET_WRITE_FIRMWARE_POINTER
public static final byte FUNCTION_SET_WRITE_FIRMWARE_POINTER
- See Also:
- Constant Field Values
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FUNCTION_WRITE_FIRMWARE
public static final byte FUNCTION_WRITE_FIRMWARE
- See Also:
- Constant Field Values
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FUNCTION_SET_STATUS_LED_CONFIG
public static final byte FUNCTION_SET_STATUS_LED_CONFIG
- See Also:
- Constant Field Values
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FUNCTION_GET_STATUS_LED_CONFIG
public static final byte FUNCTION_GET_STATUS_LED_CONFIG
- See Also:
- Constant Field Values
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FUNCTION_GET_CHIP_TEMPERATURE
public static final byte FUNCTION_GET_CHIP_TEMPERATURE
- See Also:
- Constant Field Values
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FUNCTION_RESET
public static final byte FUNCTION_RESET
- See Also:
- Constant Field Values
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FUNCTION_WRITE_UID
public static final byte FUNCTION_WRITE_UID
- See Also:
- Constant Field Values
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FUNCTION_READ_UID
public static final byte FUNCTION_READ_UID
- See Also:
- Constant Field Values
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FUNCTION_GET_IDENTITY
public static final byte FUNCTION_GET_IDENTITY
- See Also:
- Constant Field Values
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STEP_RESOLUTION_1
public static final int STEP_RESOLUTION_1
- See Also:
- Constant Field Values
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STEP_RESOLUTION_2
public static final int STEP_RESOLUTION_2
- See Also:
- Constant Field Values
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STEP_RESOLUTION_4
public static final int STEP_RESOLUTION_4
- See Also:
- Constant Field Values
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STEP_RESOLUTION_8
public static final int STEP_RESOLUTION_8
- See Also:
- Constant Field Values
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STEP_RESOLUTION_16
public static final int STEP_RESOLUTION_16
- See Also:
- Constant Field Values
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STEP_RESOLUTION_32
public static final int STEP_RESOLUTION_32
- See Also:
- Constant Field Values
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STEP_RESOLUTION_64
public static final int STEP_RESOLUTION_64
- See Also:
- Constant Field Values
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STEP_RESOLUTION_128
public static final int STEP_RESOLUTION_128
- See Also:
- Constant Field Values
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STEP_RESOLUTION_256
public static final int STEP_RESOLUTION_256
- See Also:
- Constant Field Values
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CHOPPER_MODE_SPREAD_CYCLE
public static final int CHOPPER_MODE_SPREAD_CYCLE
- See Also:
- Constant Field Values
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CHOPPER_MODE_FAST_DECAY
public static final int CHOPPER_MODE_FAST_DECAY
- See Also:
- Constant Field Values
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FREEWHEEL_MODE_NORMAL
public static final int FREEWHEEL_MODE_NORMAL
- See Also:
- Constant Field Values
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FREEWHEEL_MODE_FREEWHEELING
public static final int FREEWHEEL_MODE_FREEWHEELING
- See Also:
- Constant Field Values
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FREEWHEEL_MODE_COIL_SHORT_LS
public static final int FREEWHEEL_MODE_COIL_SHORT_LS
- See Also:
- Constant Field Values
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FREEWHEEL_MODE_COIL_SHORT_HS
public static final int FREEWHEEL_MODE_COIL_SHORT_HS
- See Also:
- Constant Field Values
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CURRENT_UP_STEP_INCREMENT_1
public static final int CURRENT_UP_STEP_INCREMENT_1
- See Also:
- Constant Field Values
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CURRENT_UP_STEP_INCREMENT_2
public static final int CURRENT_UP_STEP_INCREMENT_2
- See Also:
- Constant Field Values
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CURRENT_UP_STEP_INCREMENT_4
public static final int CURRENT_UP_STEP_INCREMENT_4
- See Also:
- Constant Field Values
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CURRENT_UP_STEP_INCREMENT_8
public static final int CURRENT_UP_STEP_INCREMENT_8
- See Also:
- Constant Field Values
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CURRENT_DOWN_STEP_DECREMENT_1
public static final int CURRENT_DOWN_STEP_DECREMENT_1
- See Also:
- Constant Field Values
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CURRENT_DOWN_STEP_DECREMENT_2
public static final int CURRENT_DOWN_STEP_DECREMENT_2
- See Also:
- Constant Field Values
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CURRENT_DOWN_STEP_DECREMENT_8
public static final int CURRENT_DOWN_STEP_DECREMENT_8
- See Also:
- Constant Field Values
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CURRENT_DOWN_STEP_DECREMENT_32
public static final int CURRENT_DOWN_STEP_DECREMENT_32
- See Also:
- Constant Field Values
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MINIMUM_CURRENT_HALF
public static final int MINIMUM_CURRENT_HALF
- See Also:
- Constant Field Values
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MINIMUM_CURRENT_QUARTER
public static final int MINIMUM_CURRENT_QUARTER
- See Also:
- Constant Field Values
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STALLGUARD_MODE_STANDARD
public static final int STALLGUARD_MODE_STANDARD
- See Also:
- Constant Field Values
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STALLGUARD_MODE_FILTERED
public static final int STALLGUARD_MODE_FILTERED
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- Constant Field Values
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OPEN_LOAD_NONE
public static final int OPEN_LOAD_NONE
- See Also:
- Constant Field Values
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OPEN_LOAD_PHASE_A
public static final int OPEN_LOAD_PHASE_A
- See Also:
- Constant Field Values
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OPEN_LOAD_PHASE_B
public static final int OPEN_LOAD_PHASE_B
- See Also:
- Constant Field Values
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OPEN_LOAD_PHASE_AB
public static final int OPEN_LOAD_PHASE_AB
- See Also:
- Constant Field Values
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SHORT_TO_GROUND_NONE
public static final int SHORT_TO_GROUND_NONE
- See Also:
- Constant Field Values
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SHORT_TO_GROUND_PHASE_A
public static final int SHORT_TO_GROUND_PHASE_A
- See Also:
- Constant Field Values
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SHORT_TO_GROUND_PHASE_B
public static final int SHORT_TO_GROUND_PHASE_B
- See Also:
- Constant Field Values
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SHORT_TO_GROUND_PHASE_AB
public static final int SHORT_TO_GROUND_PHASE_AB
- See Also:
- Constant Field Values
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OVER_TEMPERATURE_NONE
public static final int OVER_TEMPERATURE_NONE
- See Also:
- Constant Field Values
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OVER_TEMPERATURE_WARNING
public static final int OVER_TEMPERATURE_WARNING
- See Also:
- Constant Field Values
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OVER_TEMPERATURE_LIMIT
public static final int OVER_TEMPERATURE_LIMIT
- See Also:
- Constant Field Values
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STATE_STOP
public static final int STATE_STOP
- See Also:
- Constant Field Values
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STATE_ACCELERATION
public static final int STATE_ACCELERATION
- See Also:
- Constant Field Values
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STATE_RUN
public static final int STATE_RUN
- See Also:
- Constant Field Values
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STATE_DEACCELERATION
public static final int STATE_DEACCELERATION
- See Also:
- Constant Field Values
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STATE_DIRECTION_CHANGE_TO_FORWARD
public static final int STATE_DIRECTION_CHANGE_TO_FORWARD
- See Also:
- Constant Field Values
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STATE_DIRECTION_CHANGE_TO_BACKWARD
public static final int STATE_DIRECTION_CHANGE_TO_BACKWARD
- See Also:
- Constant Field Values
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GPIO_ACTION_NONE
public static final long GPIO_ACTION_NONE
- See Also:
- Constant Field Values
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GPIO_ACTION_NORMAL_STOP_RISING_EDGE
public static final long GPIO_ACTION_NORMAL_STOP_RISING_EDGE
- See Also:
- Constant Field Values
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GPIO_ACTION_NORMAL_STOP_FALLING_EDGE
public static final long GPIO_ACTION_NORMAL_STOP_FALLING_EDGE
- See Also:
- Constant Field Values
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GPIO_ACTION_FULL_BRAKE_RISING_EDGE
public static final long GPIO_ACTION_FULL_BRAKE_RISING_EDGE
- See Also:
- Constant Field Values
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GPIO_ACTION_FULL_BRAKE_FALLING_EDGE
public static final long GPIO_ACTION_FULL_BRAKE_FALLING_EDGE
- See Also:
- Constant Field Values
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GPIO_ACTION_CALLBACK_RISING_EDGE
public static final long GPIO_ACTION_CALLBACK_RISING_EDGE
- See Also:
- Constant Field Values
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GPIO_ACTION_CALLBACK_FALLING_EDGE
public static final long GPIO_ACTION_CALLBACK_FALLING_EDGE
- See Also:
- Constant Field Values
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ERROR_LED_CONFIG_OFF
public static final int ERROR_LED_CONFIG_OFF
- See Also:
- Constant Field Values
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ERROR_LED_CONFIG_ON
public static final int ERROR_LED_CONFIG_ON
- See Also:
- Constant Field Values
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ERROR_LED_CONFIG_SHOW_HEARTBEAT
public static final int ERROR_LED_CONFIG_SHOW_HEARTBEAT
- See Also:
- Constant Field Values
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ERROR_LED_CONFIG_SHOW_ERROR
public static final int ERROR_LED_CONFIG_SHOW_ERROR
- See Also:
- Constant Field Values
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BOOTLOADER_MODE_BOOTLOADER
public static final int BOOTLOADER_MODE_BOOTLOADER
- See Also:
- Constant Field Values
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BOOTLOADER_MODE_FIRMWARE
public static final int BOOTLOADER_MODE_FIRMWARE
- See Also:
- Constant Field Values
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BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT
public static final int BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT
- See Also:
- Constant Field Values
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BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT
public static final int BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT
- See Also:
- Constant Field Values
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BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT
public static final int BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT
- See Also:
- Constant Field Values
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BOOTLOADER_STATUS_OK
public static final int BOOTLOADER_STATUS_OK
- See Also:
- Constant Field Values
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BOOTLOADER_STATUS_INVALID_MODE
public static final int BOOTLOADER_STATUS_INVALID_MODE
- See Also:
- Constant Field Values
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BOOTLOADER_STATUS_NO_CHANGE
public static final int BOOTLOADER_STATUS_NO_CHANGE
- See Also:
- Constant Field Values
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BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT
public static final int BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT
- See Also:
- Constant Field Values
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BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT
public static final int BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT
- See Also:
- Constant Field Values
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BOOTLOADER_STATUS_CRC_MISMATCH
public static final int BOOTLOADER_STATUS_CRC_MISMATCH
- See Also:
- Constant Field Values
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STATUS_LED_CONFIG_OFF
public static final int STATUS_LED_CONFIG_OFF
- See Also:
- Constant Field Values
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STATUS_LED_CONFIG_ON
public static final int STATUS_LED_CONFIG_ON
- See Also:
- Constant Field Values
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STATUS_LED_CONFIG_SHOW_HEARTBEAT
public static final int STATUS_LED_CONFIG_SHOW_HEARTBEAT
- See Also:
- Constant Field Values
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STATUS_LED_CONFIG_SHOW_STATUS
public static final int STATUS_LED_CONFIG_SHOW_STATUS
- See Also:
- Constant Field Values
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Constructor Detail
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BrickletSilentStepperV2
public BrickletSilentStepperV2(java.lang.String uid, IPConnection ipcon)
Creates an object with the unique device ID \c uid. and adds it to the IP Connection \c ipcon.
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Method Detail
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setMaxVelocity
public void setMaxVelocity(int velocity) throws TinkerforgeException
Sets the maximum velocity of the stepper motor. 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 eithersetTargetPosition(int)
,setSteps(int)
,driveForward()
ordriveBackward()
.- Throws:
TinkerforgeException
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getMaxVelocity
public int getMaxVelocity() throws TinkerforgeException
Returns the velocity as set bysetMaxVelocity(int)
.- Throws:
TinkerforgeException
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getCurrentVelocity
public int getCurrentVelocity() throws TinkerforgeException
Returns the *current* velocity of the stepper motor.- Throws:
TinkerforgeException
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setSpeedRamping
public void setSpeedRamping(int acceleration, int deacceleration) throws TinkerforgeException
Sets the acceleration and deacceleration of the stepper motor. 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)- Throws:
TinkerforgeException
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getSpeedRamping
public BrickletSilentStepperV2.SpeedRamping getSpeedRamping() throws TinkerforgeException
Returns the acceleration and deacceleration as set bysetSpeedRamping(int, int)
.- Throws:
TinkerforgeException
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fullBrake
public void fullBrake() throws TinkerforgeException
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. Callstop()
if you just want to stop the motor.- Throws:
TinkerforgeException
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setCurrentPosition
public void setCurrentPosition(int position) throws TinkerforgeException
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).- Throws:
TinkerforgeException
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getCurrentPosition
public int getCurrentPosition() throws TinkerforgeException
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(int)
,setSteps(int)
,driveForward()
ordriveBackward()
). It also is possible to reset the steps to 0 or set them to any other desired value withsetCurrentPosition(int)
.- Throws:
TinkerforgeException
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setTargetPosition
public void setTargetPosition(int position) throws TinkerforgeException
Sets the target position of the stepper motor in steps. For example, if the current position of the motor is 500 andsetTargetPosition(int)
is called with 1000, the stepper motor will drive 500 steps forward. It will use the velocity, acceleration and deacceleration as set bysetMaxVelocity(int)
andsetSpeedRamping(int, int)
. A call ofsetTargetPosition(int)
with the parameter *x* is equivalent to a call ofsetSteps(int)
with the parameter (*x* -getCurrentPosition()
).- Throws:
TinkerforgeException
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getTargetPosition
public int getTargetPosition() throws TinkerforgeException
Returns the last target position as set bysetTargetPosition(int)
.- Throws:
TinkerforgeException
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setSteps
public void setSteps(int steps) throws TinkerforgeException
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 bysetMaxVelocity(int)
andsetSpeedRamping(int, int)
will be used.- Throws:
TinkerforgeException
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getSteps
public int getSteps() throws TinkerforgeException
Returns the last steps as set bysetSteps(int)
.- Throws:
TinkerforgeException
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getRemainingSteps
public int getRemainingSteps() throws TinkerforgeException
Returns the remaining steps of the last call ofsetSteps(int)
. For example, ifsetSteps(int)
is called with 2000 andgetRemainingSteps()
is called after the motor has run for 500 steps, it will return 1500.- Throws:
TinkerforgeException
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setStepConfiguration
public void setStepConfiguration(int stepResolution, boolean interpolation) throws TinkerforgeException
Sets the step resolution from full-step up to 1/256-step. If interpolation is turned on, the Silent Stepper Bricklet 2.0 will always interpolate your step inputs as 1/256-step. If you use full-step mode with interpolation, each step will generate 256 1/256 steps. For maximum torque use full-step without interpolation. For maximum resolution use 1/256-step. Turn interpolation on to make the Stepper driving less noisy. If you often change the speed with high acceleration you should turn the interpolation off.- Throws:
TinkerforgeException
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getStepConfiguration
public BrickletSilentStepperV2.StepConfiguration getStepConfiguration() throws TinkerforgeException
Returns the step mode as set bysetStepConfiguration(int, boolean)
.- Throws:
TinkerforgeException
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driveForward
public void driveForward() throws TinkerforgeException
Drives the stepper motor forward untildriveBackward()
orstop()
is called. The velocity, acceleration and deacceleration as set bysetMaxVelocity(int)
andsetSpeedRamping(int, int)
will be used.- Throws:
TinkerforgeException
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driveBackward
public void driveBackward() throws TinkerforgeException
Drives the stepper motor backward untildriveForward()
orstop()
is triggered. The velocity, acceleration and deacceleration as set bysetMaxVelocity(int)
andsetSpeedRamping(int, int)
will be used.- Throws:
TinkerforgeException
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stop
public void stop() throws TinkerforgeException
Stops the stepper motor with the deacceleration as set bysetSpeedRamping(int, int)
.- Throws:
TinkerforgeException
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getInputVoltage
public int getInputVoltage() throws TinkerforgeException
Returns the external input voltage. The external input voltage is given via the black power input connector on the Silent Stepper Bricklet 2.0. 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- Throws:
TinkerforgeException
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setMotorCurrent
public void setMotorCurrent(int current) throws TinkerforgeException
Sets the current with which the motor will be driven. \warning Do not set this value above the specifications of your stepper motor. Otherwise it may damage your motor.- Throws:
TinkerforgeException
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getMotorCurrent
public int getMotorCurrent() throws TinkerforgeException
Returns the current as set bysetMotorCurrent(int)
.- Throws:
TinkerforgeException
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setEnabled
public void setEnabled(boolean enabled) throws TinkerforgeException
Enables/Disables the driver chip. The driver parameters can be configured (maximum velocity, acceleration, etc) before it is enabled. \warning Disabling the driver chip while the motor is still turning can damage the driver chip. The motor should be stopped callingstop()
function before disabling the motor power. Thestop()
function will **not** wait until the motor is actually stopped. You have to explicitly wait for the appropriate time after calling thestop()
function before calling thesetEnabled(boolean)
with false function.- Throws:
TinkerforgeException
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getEnabled
public boolean getEnabled() throws TinkerforgeException
Returns *true* if the stepper driver is enabled, *false* otherwise.- Throws:
TinkerforgeException
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setBasicConfiguration
public void setBasicConfiguration(int standstillCurrent, int motorRunCurrent, int standstillDelayTime, int powerDownTime, int stealthThreshold, int coolstepThreshold, int classicThreshold, boolean highVelocityChopperMode) throws TinkerforgeException
Sets the basic configuration parameters for the different modes (Stealth, Coolstep, Classic). * Standstill Current: This value can be used to lower the current during stand still. This might be reasonable to reduce the heating of the motor and the Bricklet 2.0. When the motor is in standstill the configured motor phase current will be driven until the configured Power Down Time is elapsed. After that the phase current will be reduced to the standstill current. The elapsed time for this reduction can be configured with the Standstill Delay Time. The maximum allowed value is the configured maximum motor current (seesetMotorCurrent(int)
). * Motor Run Current: The value sets the motor current when the motor is running. Use a value of at least one half of the global maximum motor current for a good microstep performance. The maximum allowed value is the current motor current. The API maps the entered value to 1/32 ... 32/32 of the maximum motor current. This value should be used to change the motor current during motor movement, whereas the global maximum motor current should not be changed while the motor is moving (seesetMotorCurrent(int)
). * Standstill Delay Time: Controls the duration for motor power down after a motion as soon as standstill is detected and the Power Down Time is expired. A high Standstill Delay Time results in a smooth transition that avoids motor jerk during power down. * Power Down Time: Sets the delay time after a stand still. * Stealth Threshold: Sets the upper threshold for Stealth mode. If the velocity of the motor goes above this value, Stealth mode is turned off. Otherwise it is turned on. In Stealth mode the torque declines with high speed. * Coolstep Threshold: Sets the lower threshold for Coolstep mode. The Coolstep Threshold needs to be above the Stealth Threshold. * Classic Threshold: Sets the lower threshold for classic mode. In classic mode the stepper becomes more noisy, but the torque is maximized. * High Velocity Chopper Mode: If High Velocity Chopper Mode is enabled, the stepper control is optimized to run the stepper motors at high velocities. If you want to use all three thresholds make sure that Stealth Threshold < Coolstep Threshold < Classic Threshold.- Throws:
TinkerforgeException
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getBasicConfiguration
public BrickletSilentStepperV2.BasicConfiguration getBasicConfiguration() throws TinkerforgeException
Returns the configuration as set bysetBasicConfiguration(int, int, int, int, int, int, int, boolean)
.- Throws:
TinkerforgeException
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setSpreadcycleConfiguration
public void setSpreadcycleConfiguration(int slowDecayDuration, boolean enableRandomSlowDecay, int fastDecayDuration, int hysteresisStartValue, int hysteresisEndValue, int sineWaveOffset, int chopperMode, int comparatorBlankTime, boolean fastDecayWithoutComparator) throws TinkerforgeException
Note: If you don't know what any of this means you can very likely keep all of the values as default! Sets the Spreadcycle configuration parameters. Spreadcycle is a chopper algorithm which actively controls the motor current flow. More information can be found in the TMC2130 datasheet on page 47 (7 spreadCycle and Classic Chopper). * Slow Decay Duration: Controls duration of off time setting of slow decay phase. 0 = driver disabled, all bridges off. Use 1 only with Comparator Blank time >= 2. * Enable Random Slow Decay: Set to false to fix chopper off time as set by Slow Decay Duration. If you set it to true, Decay Duration is randomly modulated. * Fast Decay Duration: Sets the fast decay duration. This parameters is only used if the Chopper Mode is set to Fast Decay. * Hysteresis Start Value: Sets the hysteresis start value. This parameter is only used if the Chopper Mode is set to Spread Cycle. * Hysteresis End Value: Sets the hysteresis end value. This parameter is only used if the Chopper Mode is set to Spread Cycle. * Sine Wave Offset: Sets the sine wave offset. This parameters is only used if the Chopper Mode is set to Fast Decay. 1/512 of the value becomes added to the absolute value of the sine wave. * Chopper Mode: 0 = Spread Cycle, 1 = Fast Decay. * Comparator Blank Time: Sets the blank time of the comparator. Available values are * 0 = 16 clocks, * 1 = 24 clocks, * 2 = 36 clocks and * 3 = 54 clocks. A value of 1 or 2 is recommended for most applications. * Fast Decay Without Comparator: If set to true the current comparator usage for termination of the fast decay cycle is disabled.- Throws:
TinkerforgeException
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getSpreadcycleConfiguration
public BrickletSilentStepperV2.SpreadcycleConfiguration getSpreadcycleConfiguration() throws TinkerforgeException
Returns the configuration as set bysetBasicConfiguration(int, int, int, int, int, int, int, boolean)
.- Throws:
TinkerforgeException
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setStealthConfiguration
public void setStealthConfiguration(boolean enableStealth, int amplitude, int gradient, boolean enableAutoscale, boolean forceSymmetric, int freewheelMode) throws TinkerforgeException
Note: If you don't know what any of this means you can very likely keep all of the values as default! Sets the configuration relevant for Stealth mode. * Enable Stealth: If set to true the stealth mode is enabled, if set to false the stealth mode is disabled, even if the speed is below the threshold set insetBasicConfiguration(int, int, int, int, int, int, int, boolean)
. * Amplitude: If autoscale is disabled, the PWM amplitude is scaled by this value. If autoscale is enabled, this value defines the maximum PWM amplitude change per half wave. * Gradient: If autoscale is disabled, the PWM gradient is scaled by this value. If autoscale is enabled, this value defines the maximum PWM gradient. With autoscale a value above 64 is recommended, otherwise the regulation might not be able to measure the current. * Enable Autoscale: If set to true, automatic current control is used. Otherwise the user defined amplitude and gradient are used. * Force Symmetric: If true, A symmetric PWM cycle is enforced. Otherwise the PWM value may change within each PWM cycle. * Freewheel Mode: The freewheel mode defines the behavior in stand still if the Standstill Current (seesetBasicConfiguration(int, int, int, int, int, int, int, boolean)
) is set to 0.- Throws:
TinkerforgeException
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getStealthConfiguration
public BrickletSilentStepperV2.StealthConfiguration getStealthConfiguration() throws TinkerforgeException
Returns the configuration as set bysetStealthConfiguration(boolean, int, int, boolean, boolean, int)
.- Throws:
TinkerforgeException
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setCoolstepConfiguration
public void setCoolstepConfiguration(int minimumStallguardValue, int maximumStallguardValue, int currentUpStepWidth, int currentDownStepWidth, int minimumCurrent, int stallguardThresholdValue, int stallguardMode) throws TinkerforgeException
Note: If you don't know what any of this means you can very likely keep all of the values as default! Sets the configuration relevant for Coolstep. * Minimum Stallguard Value: If the Stallguard result falls below this value*32, the motor current is increased to reduce motor load angle. A value of 0 turns Coolstep off. * Maximum Stallguard Value: If the Stallguard result goes above (Min Stallguard Value + Max Stallguard Value + 1) * 32, the motor current is decreased to save energy. * Current Up Step Width: Sets the up step increment per Stallguard value. The value range is 0-3, corresponding to the increments 1, 2, 4 and 8. * Current Down Step Width: Sets the down step decrement per Stallguard value. The value range is 0-3, corresponding to the decrements 1, 2, 8 and 16. * Minimum Current: Sets the minimum current for Coolstep current control. You can choose between half and quarter of the run current. * Stallguard Threshold Value: Sets the level for stall output (seegetDriverStatus()
). A lower value gives a higher sensitivity. You have to find a suitable value for your motor by trial and error, 0 works for most motors. * Stallguard Mode: Set to 0 for standard resolution or 1 for filtered mode. In filtered mode the Stallguard signal will be updated every four full-steps.- Throws:
TinkerforgeException
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getCoolstepConfiguration
public BrickletSilentStepperV2.CoolstepConfiguration getCoolstepConfiguration() throws TinkerforgeException
Returns the configuration as set bysetCoolstepConfiguration(int, int, int, int, int, int, int)
.- Throws:
TinkerforgeException
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setMiscConfiguration
public void setMiscConfiguration(boolean disableShortToGroundProtection, int synchronizePhaseFrequency) throws TinkerforgeException
Note: If you don't know what any of this means you can very likely keep all of the values as default! Sets miscellaneous configuration parameters. * Disable Short To Ground Protection: Set to false to enable short to ground protection, otherwise it is disabled. * Synchronize Phase Frequency: With this parameter you can synchronize the chopper for both phases of a two phase motor to avoid the occurrence of a beat. The value range is 0-15. If set to 0, the synchronization is turned off. Otherwise the synchronization is done through the formula f_sync = f_clk/(value*64). In Classic Mode the synchronization is automatically switched off. f_clk is 12.8MHz.- Throws:
TinkerforgeException
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getMiscConfiguration
public BrickletSilentStepperV2.MiscConfiguration getMiscConfiguration() throws TinkerforgeException
Returns the configuration as set bysetMiscConfiguration(boolean, int)
.- Throws:
TinkerforgeException
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setErrorLEDConfig
public void setErrorLEDConfig(int config) throws TinkerforgeException
Configures the error LED to be either turned off, turned on, blink in heartbeat mode or show an error. If the LED is configured to show errors it has three different states: * Off: No error present. * 250ms interval blink: Overtemperature warning. * 1s interval blink: Input voltage too small. * full red: motor disabled because of short to ground in phase a or b or because of overtemperature.- Throws:
TinkerforgeException
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getErrorLEDConfig
public int getErrorLEDConfig() throws TinkerforgeException
Returns the LED configuration as set bysetErrorLEDConfig(int)
- Throws:
TinkerforgeException
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getDriverStatus
public BrickletSilentStepperV2.DriverStatus getDriverStatus() throws TinkerforgeException
Returns the current driver status. * Open Load: Indicates if an open load is present on phase A, B or both. This could mean that there is a problem with the wiring of the motor. False detection can occur in fast motion as well as during stand still. * Short To Ground: Indicates if a short to ground is present on phase A, B or both. If this is detected the driver automatically becomes disabled and stays disabled until it is enabled again manually. * Over Temperature: The over temperature indicator switches to "Warning" if the driver IC warms up. The warning flag is expected during long duration stepper uses. If the temperature limit is reached the indicator switches to "Limit". In this case the driver becomes disabled until it cools down again. * Motor Stalled: Is true if a motor stall was detected. * Actual Motor Current: Indicates the actual current control scaling as used in Coolstep mode. It represents a multiplier of 1/32 to 32/32 of the ``Motor Run Current`` as set bysetBasicConfiguration(int, int, int, int, int, int, int, boolean)
. Example: If a ``Motor Run Current`` of 1000mA was set and the returned value is 15, the ``Actual Motor Current`` is 16/32*1000mA = 500mA. * Stallguard Result: Indicates the load of the motor. A lower value signals a higher load. Per trial and error you can find out which value corresponds to a suitable torque for the velocity used in your application. After that you can use this threshold value to find out if a motor stall becomes probable and react on it (e.g. decrease velocity). During stand still this value can not be used for stall detection, it shows the chopper on-time for motor coil A. * Stealth Voltage Amplitude: Shows the actual PWM scaling. In Stealth mode it can be used to detect motor load and stall if autoscale is enabled (seesetStealthConfiguration(boolean, int, int, boolean, boolean, int)
).- Throws:
TinkerforgeException
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setMinimumVoltage
public void setMinimumVoltage(int voltage) throws TinkerforgeException
Sets the minimum voltage, below which theBrickletSilentStepperV2.UnderVoltageListener
listener is triggered. The minimum possible value that works with the Silent Stepper Bricklet 2.0 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.- Throws:
TinkerforgeException
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getMinimumVoltage
public int getMinimumVoltage() throws TinkerforgeException
Returns the minimum voltage as set bysetMinimumVoltage(int)
.- Throws:
TinkerforgeException
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setTimeBase
public void setTimeBase(long timeBase) throws TinkerforgeException
Sets the time base of the velocity and the acceleration of the Silent Stepper Bricklet 2.0. 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.- Throws:
TinkerforgeException
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getTimeBase
public long getTimeBase() throws TinkerforgeException
Returns the time base as set bysetTimeBase(long)
.- Throws:
TinkerforgeException
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getAllData
public BrickletSilentStepperV2.AllData getAllData() throws TinkerforgeException
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. The current consumption is calculated by multiplying the ``Actual Motor Current`` value (seesetBasicConfiguration(int, int, int, int, int, int, int, boolean)
) with the ``Motor Run Current`` (seegetDriverStatus()
). This is an internal calculation of the driver, not an independent external measurement. The current consumption calculation was broken up to firmware 2.0.1, it is fixed since firmware 2.0.2. There is also a listener for this function, seeBrickletSilentStepperV2.AllDataListener
listener.- Throws:
TinkerforgeException
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setAllCallbackConfiguration
public void setAllCallbackConfiguration(long period) throws TinkerforgeException
Sets the period with which theBrickletSilentStepperV2.AllDataListener
listener is triggered periodically. A value of 0 turns the listener off.- Throws:
TinkerforgeException
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getAllDataCallbackConfiguraton
public long getAllDataCallbackConfiguraton() throws TinkerforgeException
Returns the period as set bysetAllCallbackConfiguration(long)
.- Throws:
TinkerforgeException
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setGPIOConfiguration
public void setGPIOConfiguration(int channel, int debounce, int stopDeceleration) throws TinkerforgeException
Sets the GPIO configuration for the given channel. You can configure a debounce and the deceleration that is used if the action is configured as ``normal stop``. SeesetGPIOAction(int, long)
.- Throws:
TinkerforgeException
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getGPIOConfiguration
public BrickletSilentStepperV2.GPIOConfiguration getGPIOConfiguration(int channel) throws TinkerforgeException
Returns the GPIO configuration for a channel as set bysetGPIOConfiguration(int, int, int)
.- Throws:
TinkerforgeException
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setGPIOAction
public void setGPIOAction(int channel, long action) throws TinkerforgeException
Sets the GPIO action for the given channel. The action can be a normal stop, a full brake or a listener. Each for a rising edge or falling edge. The actions are a bitmask they can be used at the same time. You can for example trigger a full brake and a listener at the same time or for rising and falling edge. The deceleration speed for the normal stop can be configured withsetGPIOConfiguration(int, int, int)
.- Throws:
TinkerforgeException
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getGPIOAction
public long getGPIOAction(int channel) throws TinkerforgeException
Returns the GPIO action for a channel as set bysetGPIOAction(int, long)
.- Throws:
TinkerforgeException
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getGPIOState
public boolean[] getGPIOState() throws TinkerforgeException
Returns the GPIO state for both channels. True if the state is ``high`` and false if the state is ``low``.- Throws:
TinkerforgeException
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getSPITFPErrorCount
public BrickletSilentStepperV2.SPITFPErrorCount getSPITFPErrorCount() throws TinkerforgeException
Returns the error count for the communication between Brick and Bricklet. The errors are divided into * ACK checksum errors, * message checksum errors, * framing errors and * overflow errors. The errors counts are for errors that occur on the Bricklet side. All Bricks have a similar function that returns the errors on the Brick side.- Throws:
TinkerforgeException
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setBootloaderMode
public int setBootloaderMode(int mode) throws TinkerforgeException
Sets the bootloader mode and returns the status after the requested mode change was instigated. You can change from bootloader mode to firmware mode and vice versa. A change from bootloader mode to firmware mode will only take place if the entry function, device identifier and CRC are present and correct. This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.- Throws:
TinkerforgeException
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getBootloaderMode
public int getBootloaderMode() throws TinkerforgeException
Returns the current bootloader mode, seesetBootloaderMode(int)
.- Throws:
TinkerforgeException
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setWriteFirmwarePointer
public void setWriteFirmwarePointer(long pointer) throws TinkerforgeException
Sets the firmware pointer forwriteFirmware(int[])
. The pointer has to be increased by chunks of size 64. The data is written to flash every 4 chunks (which equals to one page of size 256). This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.- Throws:
TinkerforgeException
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writeFirmware
public int writeFirmware(int[] data) throws TinkerforgeException
Writes 64 Bytes of firmware at the position as written bysetWriteFirmwarePointer(long)
before. The firmware is written to flash every 4 chunks. You can only write firmware in bootloader mode. This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.- Throws:
TinkerforgeException
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setStatusLEDConfig
public void setStatusLEDConfig(int config) throws TinkerforgeException
Sets the status LED configuration. By default the LED shows communication traffic between Brick and Bricklet, it flickers once for every 10 received data packets. You can also turn the LED permanently on/off or show a heartbeat. If the Bricklet is in bootloader mode, the LED is will show heartbeat by default.- Throws:
TinkerforgeException
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getStatusLEDConfig
public int getStatusLEDConfig() throws TinkerforgeException
Returns the configuration as set bysetStatusLEDConfig(int)
- Throws:
TinkerforgeException
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getChipTemperature
public int getChipTemperature() throws TinkerforgeException
Returns the temperature 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 bad accuracy. Practically it is only useful as an indicator for temperature changes.- Throws:
TinkerforgeException
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reset
public void reset() throws TinkerforgeException
Calling this function will reset the Bricklet. All configurations will be lost. After a reset you have to create new device objects, calling functions on the existing ones will result in undefined behavior!- Throws:
TinkerforgeException
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writeUID
public void writeUID(long uid) throws TinkerforgeException
Writes a new UID into flash. If you want to set a new UID you have to decode the Base58 encoded UID string into an integer first. We recommend that you use Brick Viewer to change the UID.- Throws:
TinkerforgeException
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readUID
public long readUID() throws TinkerforgeException
Returns the current UID as an integer. Encode as Base58 to get the usual string version.- Throws:
TinkerforgeException
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getIdentity
public Device.Identity getIdentity() throws TinkerforgeException
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', 'd', 'e', 'f', 'g' or 'h' (Bricklet Port). A Bricklet connected to an :ref:`Isolator Bricklet <isolator_bricklet>` is always at position 'z'. The device identifier numbers can be found :ref:`here <device_identifier>`. |device_identifier_constant|- Specified by:
getIdentity
in classDevice
- Throws:
TinkerforgeException
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addUnderVoltageListener
public void addUnderVoltageListener(BrickletSilentStepperV2.UnderVoltageListener listener)
Adds a UnderVoltage listener.
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removeUnderVoltageListener
public void removeUnderVoltageListener(BrickletSilentStepperV2.UnderVoltageListener listener)
Removes a UnderVoltage listener.
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addPositionReachedListener
public void addPositionReachedListener(BrickletSilentStepperV2.PositionReachedListener listener)
Adds a PositionReached listener.
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removePositionReachedListener
public void removePositionReachedListener(BrickletSilentStepperV2.PositionReachedListener listener)
Removes a PositionReached listener.
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addAllDataListener
public void addAllDataListener(BrickletSilentStepperV2.AllDataListener listener)
Adds a AllData listener.
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removeAllDataListener
public void removeAllDataListener(BrickletSilentStepperV2.AllDataListener listener)
Removes a AllData listener.
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addNewStateListener
public void addNewStateListener(BrickletSilentStepperV2.NewStateListener listener)
Adds a NewState listener.
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removeNewStateListener
public void removeNewStateListener(BrickletSilentStepperV2.NewStateListener listener)
Removes a NewState listener.
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addGPIOStateListener
public void addGPIOStateListener(BrickletSilentStepperV2.GPIOStateListener listener)
Adds a GPIOState listener.
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removeGPIOStateListener
public void removeGPIOStateListener(BrickletSilentStepperV2.GPIOStateListener listener)
Removes a GPIOState listener.
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