Class BrickDC


  • public class BrickDC
    extends Device
    Drives one brushed DC motor with up to 28V and 5A (peak)
    • Field Detail

      • DEVICE_DISPLAY_NAME

        public static final java.lang.String DEVICE_DISPLAY_NAME
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      • FUNCTION_GET_CURRENT_VELOCITY

        public static final byte FUNCTION_GET_CURRENT_VELOCITY
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      • FUNCTION_SET_ACCELERATION

        public static final byte FUNCTION_SET_ACCELERATION
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      • FUNCTION_GET_ACCELERATION

        public static final byte FUNCTION_GET_ACCELERATION
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      • FUNCTION_SET_PWM_FREQUENCY

        public static final byte FUNCTION_SET_PWM_FREQUENCY
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      • FUNCTION_GET_PWM_FREQUENCY

        public static final byte FUNCTION_GET_PWM_FREQUENCY
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      • FUNCTION_GET_STACK_INPUT_VOLTAGE

        public static final byte FUNCTION_GET_STACK_INPUT_VOLTAGE
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      • FUNCTION_GET_EXTERNAL_INPUT_VOLTAGE

        public static final byte FUNCTION_GET_EXTERNAL_INPUT_VOLTAGE
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      • FUNCTION_GET_CURRENT_CONSUMPTION

        public static final byte FUNCTION_GET_CURRENT_CONSUMPTION
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      • FUNCTION_SET_MINIMUM_VOLTAGE

        public static final byte FUNCTION_SET_MINIMUM_VOLTAGE
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      • FUNCTION_GET_MINIMUM_VOLTAGE

        public static final byte FUNCTION_GET_MINIMUM_VOLTAGE
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      • FUNCTION_SET_DRIVE_MODE

        public static final byte FUNCTION_SET_DRIVE_MODE
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      • FUNCTION_GET_DRIVE_MODE

        public static final byte FUNCTION_GET_DRIVE_MODE
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      • FUNCTION_SET_CURRENT_VELOCITY_PERIOD

        public static final byte FUNCTION_SET_CURRENT_VELOCITY_PERIOD
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      • FUNCTION_GET_CURRENT_VELOCITY_PERIOD

        public static final byte FUNCTION_GET_CURRENT_VELOCITY_PERIOD
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      • FUNCTION_SET_SPITFP_BAUDRATE_CONFIG

        public static final byte FUNCTION_SET_SPITFP_BAUDRATE_CONFIG
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      • FUNCTION_GET_SPITFP_BAUDRATE_CONFIG

        public static final byte FUNCTION_GET_SPITFP_BAUDRATE_CONFIG
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      • FUNCTION_GET_SEND_TIMEOUT_COUNT

        public static final byte FUNCTION_GET_SEND_TIMEOUT_COUNT
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      • FUNCTION_SET_SPITFP_BAUDRATE

        public static final byte FUNCTION_SET_SPITFP_BAUDRATE
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      • FUNCTION_GET_SPITFP_BAUDRATE

        public static final byte FUNCTION_GET_SPITFP_BAUDRATE
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      • FUNCTION_GET_SPITFP_ERROR_COUNT

        public static final byte FUNCTION_GET_SPITFP_ERROR_COUNT
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      • FUNCTION_ENABLE_STATUS_LED

        public static final byte FUNCTION_ENABLE_STATUS_LED
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      • FUNCTION_DISABLE_STATUS_LED

        public static final byte FUNCTION_DISABLE_STATUS_LED
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      • FUNCTION_IS_STATUS_LED_ENABLED

        public static final byte FUNCTION_IS_STATUS_LED_ENABLED
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      • FUNCTION_GET_PROTOCOL1_BRICKLET_NAME

        public static final byte FUNCTION_GET_PROTOCOL1_BRICKLET_NAME
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      • FUNCTION_GET_CHIP_TEMPERATURE

        public static final byte FUNCTION_GET_CHIP_TEMPERATURE
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      • FUNCTION_WRITE_BRICKLET_PLUGIN

        public static final byte FUNCTION_WRITE_BRICKLET_PLUGIN
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      • FUNCTION_READ_BRICKLET_PLUGIN

        public static final byte FUNCTION_READ_BRICKLET_PLUGIN
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      • DRIVE_MODE_DRIVE_BRAKE

        public static final short DRIVE_MODE_DRIVE_BRAKE
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      • DRIVE_MODE_DRIVE_COAST

        public static final short DRIVE_MODE_DRIVE_COAST
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      • COMMUNICATION_METHOD_NONE

        public static final short COMMUNICATION_METHOD_NONE
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      • COMMUNICATION_METHOD_USB

        public static final short COMMUNICATION_METHOD_USB
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      • COMMUNICATION_METHOD_SPI_STACK

        public static final short COMMUNICATION_METHOD_SPI_STACK
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      • COMMUNICATION_METHOD_CHIBI

        public static final short COMMUNICATION_METHOD_CHIBI
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      • COMMUNICATION_METHOD_RS485

        public static final short COMMUNICATION_METHOD_RS485
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      • COMMUNICATION_METHOD_WIFI

        public static final short COMMUNICATION_METHOD_WIFI
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      • COMMUNICATION_METHOD_ETHERNET

        public static final short COMMUNICATION_METHOD_ETHERNET
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      • COMMUNICATION_METHOD_WIFI_V2

        public static final short COMMUNICATION_METHOD_WIFI_V2
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    • Constructor Detail

      • BrickDC

        public BrickDC​(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.
    • Method Detail

      • setVelocity

        public void setVelocity​(short velocity)
                         throws TinkerforgeException
        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 setAcceleration(int)), 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 setPWMFrequency(int).
        Throws:
        TinkerforgeException
      • setAcceleration

        public void setAcceleration​(int acceleration)
                             throws TinkerforgeException
        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.
        Throws:
        TinkerforgeException
      • setPWMFrequency

        public void setPWMFrequency​(int frequency)
                             throws TinkerforgeException
        Sets the frequency of the PWM with which the motor is driven. 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.
        Throws:
        TinkerforgeException
      • 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. Call setVelocity(short) with 0 if you just want to stop the motor.
        Throws:
        TinkerforgeException
      • getStackInputVoltage

        public int getStackInputVoltage()
                                 throws TinkerforgeException
        Returns the stack input voltage. 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.
        Throws:
        TinkerforgeException
      • getExternalInputVoltage

        public int getExternalInputVoltage()
                                    throws TinkerforgeException
        Returns the external input voltage. 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.
        Throws:
        TinkerforgeException
      • enable

        public void enable()
                    throws TinkerforgeException
        Enables the driver chip. The driver parameters can be configured (velocity, acceleration, etc) before it is enabled.
        Throws:
        TinkerforgeException
      • disable

        public void disable()
                     throws TinkerforgeException
        Disables the driver chip. The configurations are kept (velocity, acceleration, etc) but the motor is not driven until it is enabled again. \warning Disabling the driver chip while the motor is still turning can damage the driver chip. The motor should be stopped calling setVelocity(short) with 0 before disabling the motor power. The setVelocity(short) function will **not** wait until the motor is actually stopped. You have to explicitly wait for the appropriate time after calling the setVelocity(short) function before calling the disable() function.
        Throws:
        TinkerforgeException
      • setMinimumVoltage

        public void setMinimumVoltage​(int voltage)
                               throws TinkerforgeException
        Sets the minimum voltage, below which the BrickDC.UnderVoltageListener listener 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.
        Throws:
        TinkerforgeException
      • setDriveMode

        public void setDriveMode​(short mode)
                          throws TinkerforgeException
        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.
        Throws:
        TinkerforgeException
      • setSPITFPBaudrateConfig

        public void setSPITFPBaudrateConfig​(boolean enableDynamicBaudrate,
                                            long minimumDynamicBaudrate)
                                     throws TinkerforgeException
        The SPITF protocol can be used with a dynamic baudrate. If the dynamic baudrate is enabled, the Brick will try to adapt the baudrate for the communication between Bricks and Bricklets according to the amount of data that is transferred. The baudrate will be increased exponentially if lots of data is sent/received and decreased linearly if little data is sent/received. This lowers the baudrate in applications where little data is transferred (e.g. a weather station) and increases the robustness. If there is lots of data to transfer (e.g. Thermal Imaging Bricklet) it automatically increases the baudrate as needed. In cases where some data has to transferred as fast as possible every few seconds (e.g. RS485 Bricklet with a high baudrate but small payload) you may want to turn the dynamic baudrate off to get the highest possible performance. The maximum value of the baudrate can be set per port with the function setSPITFPBaudrate(char, long). If the dynamic baudrate is disabled, the baudrate as set by setSPITFPBaudrate(char, long) will be used statically. .. versionadded:: 2.3.5$nbsp;(Firmware)
        Throws:
        TinkerforgeException
      • getSendTimeoutCount

        public long getSendTimeoutCount​(short communicationMethod)
                                 throws TinkerforgeException
        Returns the timeout count for the different communication methods. The methods 0-2 are available for all Bricks, 3-7 only for Master Bricks. This function is mostly used for debugging during development, in normal operation the counters should nearly always stay at 0. .. versionadded:: 2.3.3$nbsp;(Firmware)
        Throws:
        TinkerforgeException
      • setSPITFPBaudrate

        public void setSPITFPBaudrate​(char brickletPort,
                                      long baudrate)
                               throws TinkerforgeException
        Sets the baudrate for a specific Bricklet port. If you want to increase the throughput of Bricklets you can increase the baudrate. If you get a high error count because of high interference (see getSPITFPErrorCount(char)) you can decrease the baudrate. If the dynamic baudrate feature is enabled, the baudrate set by this function corresponds to the maximum baudrate (see setSPITFPBaudrateConfig(boolean, long)). Regulatory testing is done with the default baudrate. If CE compatibility or similar is necessary in your applications we recommend to not change the baudrate. .. versionadded:: 2.3.3$nbsp;(Firmware)
        Throws:
        TinkerforgeException
      • getSPITFPErrorCount

        public BrickDC.SPITFPErrorCount getSPITFPErrorCount​(char brickletPort)
                                                     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 Brick side. All Bricklets have a similar function that returns the errors on the Bricklet side. .. versionadded:: 2.3.3$nbsp;(Firmware)
        Throws:
        TinkerforgeException
      • enableStatusLED

        public void enableStatusLED()
                             throws TinkerforgeException
        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$nbsp;(Firmware)
        Throws:
        TinkerforgeException
      • disableStatusLED

        public void disableStatusLED()
                              throws TinkerforgeException
        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$nbsp;(Firmware)
        Throws:
        TinkerforgeException
      • isStatusLEDEnabled

        public boolean isStatusLEDEnabled()
                                   throws TinkerforgeException
        Returns *true* if the status LED is enabled, *false* otherwise. .. versionadded:: 2.3.1$nbsp;(Firmware)
        Throws:
        TinkerforgeException
      • getChipTemperature

        public short 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 an accuracy of ±15%. Practically it is only useful as an indicator for temperature changes.
        Throws:
        TinkerforgeException
      • reset

        public void reset()
                   throws TinkerforgeException
        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!
        Throws:
        TinkerforgeException
      • writeBrickletPlugin

        public void writeBrickletPlugin​(char port,
                                        short offset,
                                        short[] chunk)
                                 throws TinkerforgeException
        Writes 32 bytes of firmware to the bricklet attached at the given port. The bytes are written to the position offset * 32. This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.
        Throws:
        TinkerforgeException
      • readBrickletPlugin

        public short[] readBrickletPlugin​(char port,
                                          short offset)
                                   throws TinkerforgeException
        Reads 32 bytes of firmware from the bricklet attached at the given port. The bytes are read starting at the position offset * 32. This function is used by Brick Viewer during flashing. It should not be necessary to call it in a normal user program.
        Throws:
        TinkerforgeException
      • getIdentity

        public Device.Identity getIdentity()
                                    throws TinkerforgeException
        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 is the position in the stack from '0' (bottom) to '8' (top). The device identifier numbers can be found :ref:`here <device_identifier>`. |device_identifier_constant|
        Specified by:
        getIdentity in class Device
        Throws:
        TinkerforgeException
      • removeUnderVoltageListener

        public void removeUnderVoltageListener​(BrickDC.UnderVoltageListener listener)
        Removes a UnderVoltage listener.
      • removeEmergencyShutdownListener

        public void removeEmergencyShutdownListener​(BrickDC.EmergencyShutdownListener listener)
        Removes a EmergencyShutdown listener.
      • removeVelocityReachedListener

        public void removeVelocityReachedListener​(BrickDC.VelocityReachedListener listener)
        Removes a VelocityReached listener.
      • removeCurrentVelocityListener

        public void removeCurrentVelocityListener​(BrickDC.CurrentVelocityListener listener)
        Removes a CurrentVelocity listener.