Class BrickletSilentStepperV2


  • public class BrickletSilentStepperV2
    extends Device
    Silently drives one bipolar stepper motor with up to 46V and 1.6A per phase
    • Field Detail

      • DEVICE_DISPLAY_NAME

        public static final java.lang.String DEVICE_DISPLAY_NAME
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      • FUNCTION_SET_MAX_VELOCITY

        public static final byte FUNCTION_SET_MAX_VELOCITY
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      • FUNCTION_GET_MAX_VELOCITY

        public static final byte FUNCTION_GET_MAX_VELOCITY
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      • FUNCTION_GET_CURRENT_VELOCITY

        public static final byte FUNCTION_GET_CURRENT_VELOCITY
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      • FUNCTION_SET_SPEED_RAMPING

        public static final byte FUNCTION_SET_SPEED_RAMPING
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      • FUNCTION_GET_SPEED_RAMPING

        public static final byte FUNCTION_GET_SPEED_RAMPING
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      • FUNCTION_SET_CURRENT_POSITION

        public static final byte FUNCTION_SET_CURRENT_POSITION
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      • FUNCTION_GET_CURRENT_POSITION

        public static final byte FUNCTION_GET_CURRENT_POSITION
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      • FUNCTION_SET_TARGET_POSITION

        public static final byte FUNCTION_SET_TARGET_POSITION
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      • FUNCTION_GET_TARGET_POSITION

        public static final byte FUNCTION_GET_TARGET_POSITION
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      • FUNCTION_GET_REMAINING_STEPS

        public static final byte FUNCTION_GET_REMAINING_STEPS
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      • FUNCTION_SET_STEP_CONFIGURATION

        public static final byte FUNCTION_SET_STEP_CONFIGURATION
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      • FUNCTION_GET_STEP_CONFIGURATION

        public static final byte FUNCTION_GET_STEP_CONFIGURATION
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      • FUNCTION_DRIVE_FORWARD

        public static final byte FUNCTION_DRIVE_FORWARD
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      • FUNCTION_DRIVE_BACKWARD

        public static final byte FUNCTION_DRIVE_BACKWARD
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      • FUNCTION_GET_INPUT_VOLTAGE

        public static final byte FUNCTION_GET_INPUT_VOLTAGE
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      • FUNCTION_SET_MOTOR_CURRENT

        public static final byte FUNCTION_SET_MOTOR_CURRENT
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      • FUNCTION_GET_MOTOR_CURRENT

        public static final byte FUNCTION_GET_MOTOR_CURRENT
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      • FUNCTION_SET_BASIC_CONFIGURATION

        public static final byte FUNCTION_SET_BASIC_CONFIGURATION
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      • FUNCTION_GET_BASIC_CONFIGURATION

        public static final byte FUNCTION_GET_BASIC_CONFIGURATION
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      • FUNCTION_SET_SPREADCYCLE_CONFIGURATION

        public static final byte FUNCTION_SET_SPREADCYCLE_CONFIGURATION
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      • FUNCTION_GET_SPREADCYCLE_CONFIGURATION

        public static final byte FUNCTION_GET_SPREADCYCLE_CONFIGURATION
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      • FUNCTION_SET_STEALTH_CONFIGURATION

        public static final byte FUNCTION_SET_STEALTH_CONFIGURATION
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      • FUNCTION_GET_STEALTH_CONFIGURATION

        public static final byte FUNCTION_GET_STEALTH_CONFIGURATION
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      • FUNCTION_SET_COOLSTEP_CONFIGURATION

        public static final byte FUNCTION_SET_COOLSTEP_CONFIGURATION
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      • FUNCTION_GET_COOLSTEP_CONFIGURATION

        public static final byte FUNCTION_GET_COOLSTEP_CONFIGURATION
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      • FUNCTION_SET_MISC_CONFIGURATION

        public static final byte FUNCTION_SET_MISC_CONFIGURATION
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      • FUNCTION_GET_MISC_CONFIGURATION

        public static final byte FUNCTION_GET_MISC_CONFIGURATION
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      • FUNCTION_SET_ERROR_LED_CONFIG

        public static final byte FUNCTION_SET_ERROR_LED_CONFIG
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      • FUNCTION_GET_ERROR_LED_CONFIG

        public static final byte FUNCTION_GET_ERROR_LED_CONFIG
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      • FUNCTION_GET_DRIVER_STATUS

        public static final byte FUNCTION_GET_DRIVER_STATUS
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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_TIME_BASE

        public static final byte FUNCTION_SET_TIME_BASE
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      • FUNCTION_GET_TIME_BASE

        public static final byte FUNCTION_GET_TIME_BASE
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      • FUNCTION_SET_ALL_CALLBACK_CONFIGURATION

        public static final byte FUNCTION_SET_ALL_CALLBACK_CONFIGURATION
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      • FUNCTION_GET_ALL_DATA_CALLBACK_CONFIGURATON

        public static final byte FUNCTION_GET_ALL_DATA_CALLBACK_CONFIGURATON
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      • FUNCTION_SET_GPIO_CONFIGURATION

        public static final byte FUNCTION_SET_GPIO_CONFIGURATION
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      • FUNCTION_GET_GPIO_CONFIGURATION

        public static final byte FUNCTION_GET_GPIO_CONFIGURATION
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      • FUNCTION_SET_GPIO_ACTION

        public static final byte FUNCTION_SET_GPIO_ACTION
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      • FUNCTION_GET_GPIO_ACTION

        public static final byte FUNCTION_GET_GPIO_ACTION
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      • FUNCTION_GET_GPIO_STATE

        public static final byte FUNCTION_GET_GPIO_STATE
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      • FUNCTION_GET_SPITFP_ERROR_COUNT

        public static final byte FUNCTION_GET_SPITFP_ERROR_COUNT
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      • FUNCTION_SET_BOOTLOADER_MODE

        public static final byte FUNCTION_SET_BOOTLOADER_MODE
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      • FUNCTION_GET_BOOTLOADER_MODE

        public static final byte FUNCTION_GET_BOOTLOADER_MODE
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      • FUNCTION_SET_WRITE_FIRMWARE_POINTER

        public static final byte FUNCTION_SET_WRITE_FIRMWARE_POINTER
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      • FUNCTION_WRITE_FIRMWARE

        public static final byte FUNCTION_WRITE_FIRMWARE
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      • FUNCTION_SET_STATUS_LED_CONFIG

        public static final byte FUNCTION_SET_STATUS_LED_CONFIG
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      • FUNCTION_GET_STATUS_LED_CONFIG

        public static final byte FUNCTION_GET_STATUS_LED_CONFIG
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      • FUNCTION_GET_CHIP_TEMPERATURE

        public static final byte FUNCTION_GET_CHIP_TEMPERATURE
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      • CHOPPER_MODE_SPREAD_CYCLE

        public static final int CHOPPER_MODE_SPREAD_CYCLE
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      • CHOPPER_MODE_FAST_DECAY

        public static final int CHOPPER_MODE_FAST_DECAY
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      • FREEWHEEL_MODE_FREEWHEELING

        public static final int FREEWHEEL_MODE_FREEWHEELING
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      • FREEWHEEL_MODE_COIL_SHORT_LS

        public static final int FREEWHEEL_MODE_COIL_SHORT_LS
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      • FREEWHEEL_MODE_COIL_SHORT_HS

        public static final int FREEWHEEL_MODE_COIL_SHORT_HS
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      • CURRENT_UP_STEP_INCREMENT_1

        public static final int CURRENT_UP_STEP_INCREMENT_1
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      • CURRENT_UP_STEP_INCREMENT_2

        public static final int CURRENT_UP_STEP_INCREMENT_2
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      • CURRENT_UP_STEP_INCREMENT_4

        public static final int CURRENT_UP_STEP_INCREMENT_4
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      • CURRENT_UP_STEP_INCREMENT_8

        public static final int CURRENT_UP_STEP_INCREMENT_8
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      • CURRENT_DOWN_STEP_DECREMENT_1

        public static final int CURRENT_DOWN_STEP_DECREMENT_1
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      • CURRENT_DOWN_STEP_DECREMENT_2

        public static final int CURRENT_DOWN_STEP_DECREMENT_2
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      • CURRENT_DOWN_STEP_DECREMENT_8

        public static final int CURRENT_DOWN_STEP_DECREMENT_8
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      • CURRENT_DOWN_STEP_DECREMENT_32

        public static final int CURRENT_DOWN_STEP_DECREMENT_32
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      • MINIMUM_CURRENT_QUARTER

        public static final int MINIMUM_CURRENT_QUARTER
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      • STALLGUARD_MODE_STANDARD

        public static final int STALLGUARD_MODE_STANDARD
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      • STALLGUARD_MODE_FILTERED

        public static final int STALLGUARD_MODE_FILTERED
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      • SHORT_TO_GROUND_PHASE_A

        public static final int SHORT_TO_GROUND_PHASE_A
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      • SHORT_TO_GROUND_PHASE_B

        public static final int SHORT_TO_GROUND_PHASE_B
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      • SHORT_TO_GROUND_PHASE_AB

        public static final int SHORT_TO_GROUND_PHASE_AB
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      • OVER_TEMPERATURE_WARNING

        public static final int OVER_TEMPERATURE_WARNING
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      • STATE_DIRECTION_CHANGE_TO_FORWARD

        public static final int STATE_DIRECTION_CHANGE_TO_FORWARD
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      • STATE_DIRECTION_CHANGE_TO_BACKWARD

        public static final int STATE_DIRECTION_CHANGE_TO_BACKWARD
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      • GPIO_ACTION_NORMAL_STOP_RISING_EDGE

        public static final long GPIO_ACTION_NORMAL_STOP_RISING_EDGE
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      • GPIO_ACTION_NORMAL_STOP_FALLING_EDGE

        public static final long GPIO_ACTION_NORMAL_STOP_FALLING_EDGE
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      • GPIO_ACTION_FULL_BRAKE_RISING_EDGE

        public static final long GPIO_ACTION_FULL_BRAKE_RISING_EDGE
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      • GPIO_ACTION_FULL_BRAKE_FALLING_EDGE

        public static final long GPIO_ACTION_FULL_BRAKE_FALLING_EDGE
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      • GPIO_ACTION_CALLBACK_RISING_EDGE

        public static final long GPIO_ACTION_CALLBACK_RISING_EDGE
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      • GPIO_ACTION_CALLBACK_FALLING_EDGE

        public static final long GPIO_ACTION_CALLBACK_FALLING_EDGE
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      • ERROR_LED_CONFIG_SHOW_HEARTBEAT

        public static final int ERROR_LED_CONFIG_SHOW_HEARTBEAT
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      • ERROR_LED_CONFIG_SHOW_ERROR

        public static final int ERROR_LED_CONFIG_SHOW_ERROR
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      • BOOTLOADER_MODE_BOOTLOADER

        public static final int BOOTLOADER_MODE_BOOTLOADER
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      • BOOTLOADER_MODE_FIRMWARE

        public static final int BOOTLOADER_MODE_FIRMWARE
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      • BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT

        public static final int BOOTLOADER_MODE_BOOTLOADER_WAIT_FOR_REBOOT
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      • BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT

        public static final int BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_REBOOT
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      • BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT

        public static final int BOOTLOADER_MODE_FIRMWARE_WAIT_FOR_ERASE_AND_REBOOT
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      • BOOTLOADER_STATUS_INVALID_MODE

        public static final int BOOTLOADER_STATUS_INVALID_MODE
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      • BOOTLOADER_STATUS_NO_CHANGE

        public static final int BOOTLOADER_STATUS_NO_CHANGE
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      • BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT

        public static final int BOOTLOADER_STATUS_ENTRY_FUNCTION_NOT_PRESENT
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      • BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT

        public static final int BOOTLOADER_STATUS_DEVICE_IDENTIFIER_INCORRECT
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      • BOOTLOADER_STATUS_CRC_MISMATCH

        public static final int BOOTLOADER_STATUS_CRC_MISMATCH
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      • STATUS_LED_CONFIG_SHOW_HEARTBEAT

        public static final int STATUS_LED_CONFIG_SHOW_HEARTBEAT
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      • STATUS_LED_CONFIG_SHOW_STATUS

        public static final int STATUS_LED_CONFIG_SHOW_STATUS
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    • Constructor Detail

      • 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.
    • Method Detail

      • 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
      • 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 stop() if you just want to stop the motor.
        Throws:
        TinkerforgeException
      • 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
      • 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
      • 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
      • 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
      • 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 calling stop() function before disabling the motor power. The stop() function will **not** wait until the motor is actually stopped. You have to explicitly wait for the appropriate time after calling the stop() function before calling the setEnabled(boolean) with false function.
        Throws:
        TinkerforgeException
      • 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 (see setMotorCurrent(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 (see setMotorCurrent(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
      • 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
      • 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 in setBasicConfiguration(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 (see setBasicConfiguration(int, int, int, int, int, int, int, boolean)) is set to 0.
        Throws:
        TinkerforgeException
      • 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 (see getDriverStatus()). 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
      • 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
      • 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
      • 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 by setBasicConfiguration(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 (see setStealthConfiguration(boolean, int, int, boolean, boolean, int)).
        Throws:
        TinkerforgeException
      • setMinimumVoltage

        public void setMinimumVoltage​(int voltage)
                               throws TinkerforgeException
        Sets the minimum voltage, below which the BrickletSilentStepperV2.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
      • 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
      • 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``. See setGPIOAction(int, long).
        Throws:
        TinkerforgeException
      • 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 with setGPIOConfiguration(int, int, int).
        Throws:
        TinkerforgeException
      • 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
      • 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
      • 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
      • setWriteFirmwarePointer

        public void setWriteFirmwarePointer​(long pointer)
                                     throws TinkerforgeException
        Sets the firmware pointer for writeFirmware(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
      • writeFirmware

        public int writeFirmware​(int[] data)
                          throws TinkerforgeException
        Writes 64 Bytes of firmware at the position as written by setWriteFirmwarePointer(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
      • 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
      • 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
      • 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
      • 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
      • 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 class Device
        Throws:
        TinkerforgeException